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"display_color_whole_frame_delta_pixels": { + "value": 24901, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.0872, + 0.0872, + 0.0871 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.000162, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.997375, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.234, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 70, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 35, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 35, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 35, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 183.14, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 24761, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 24901, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.0872, + 0.0872, + 0.0871 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.000162, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.997375, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.453, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 6, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 6, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 268.17, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.86, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.019999999552965164, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523634299955671, + "start": 3.552435737219639e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 28, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_index_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_index_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236951472357815, + "start": 9.637163748266175e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523627899434001, + "start": 2.91238357021939e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 36, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_ring_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_ring_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236327607086478, + "start": 3.398511034902185e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 36, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_little_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_little_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236420415309168, + "start": 4.326593261794187e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 36, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.02500000037252903, + "max_force": 2.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235999822616577, + "start": 7.901839853730053e-05, + "tolerance": 0.026176048193156023 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 39, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 176.781, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 6, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 6, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.093, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 34, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 149.79, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_index_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_index_1_joint", + 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"kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.904, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 26.44, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "right_index_1_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "right_little_1_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "right_middle_1_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "right_ring_1_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "right_thumb_1_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "right_thumb_2_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_index_1", + "runtime_lower": 0.0, + "runtime_upper": 1.3440001010894775, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_index_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_index_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_little_1", + "runtime_lower": 0.0, + "runtime_upper": 1.3440001010894775, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_little_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_little_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_002.json", + "csv": "motion_history/eff_joint_002.csv" + }, + "unit": null + }, + "motion_history_eff_joint_003": { + "value": { + "schema_version": 1, + "name": "eff_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_middle_1", + "runtime_lower": 0.0, + "runtime_upper": 1.3440001010894775, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_003.json", + "csv": "motion_history/eff_joint_003.csv" + }, + "unit": null + }, + "motion_history_eff_joint_004": { + "value": { + "schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_ring_1", + "runtime_lower": 0.0, + "runtime_upper": 1.3440001010894775, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_ring_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_ring_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_thumb_1", + "runtime_lower": 0.0, + "runtime_upper": 1.309000015258789, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0513800382614136, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_005.json", + "csv": "motion_history/eff_joint_005.csv" + }, + "unit": null + }, + "motion_history_eff_joint_006": { + "value": { + "schema_version": 1, + "name": "eff_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_thumb_2", + "runtime_lower": 0.0, + "runtime_upper": 0.5235999822616577, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.6071300506591797, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 228.844, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 26.4375, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 6345, + "planned_nominal_ticks_estimate": 6345, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 228.76500000001397, + "setup_elapsed_wall_seconds": 2.875, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3131.234999999986, + "observed_service_seconds_per_nominal_tick": 0.03560126083530559, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 182.73899999819696, + "attempts": 6345 + }, + "captures": { + "wall_seconds": 24.547999999835156, + "attempts": 43 + }, + "bounds": { + "wall_seconds": 12.04500000050757, + "attempts": 275 + }, + "camera": { + "wall_seconds": 0.753000000724569, + "attempts": 5457 + }, + "optional_motion": { + "wall_seconds": 0.9569999998202547, + "attempts": 6154 + }, + "commands": { + "wall_seconds": 1.8350000004284084, + "attempts": 6105 + }, + "encoding": { + "wall_seconds": 2.280999999959022, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 12, + "unit": null + }, + "frs_joints_tested": { + "value": 6, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 6, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.002567656124913859, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "right_thumb_1_joint", + "segment": "to_max", + "requested_start": 3.552518683136441e-05, + "observed_start": 3.552518683136441e-05, + "ramp_seconds": 1.4333333333333333, + "velocity_hint_native_per_second": 1.8675022996339325, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00715388910254636 + }, + { + "joint": "right_thumb_1_joint", + "segment": "to_min", + "requested_start": 1.17810001373291, + "observed_start": 1.178099274635315, + "ramp_seconds": 1.3041666666666667, + "velocity_hint_native_per_second": 1.8675022996339325, + "velocity_hint_source": "USD 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"motion_history/frs_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 162.813, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.06499999761581421, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.4000000059604645, + "unit": 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coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + 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"nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0513800382614136, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 302, + "json": "motion_history/mjc_joint_008.json", + "csv": "motion_history/mjc_joint_008.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.6071300506591797, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 302, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.656, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 869.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.64, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + 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positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_little_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 273, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 273, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_ring_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_ring_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 273, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0513800382614136, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.6071300506591797, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 201, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.578, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 6, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 6, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.97, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 328.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.019999999552965164, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_index_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_index_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_ring_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_ring_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_little_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_little_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.014999999664723873, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.02500000037252903, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.75, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 6, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 6, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.5955333815124546, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.78, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 33.91, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.188, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_index_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_index_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_little_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_little_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_middle_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_middle_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_ring_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_ring_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.43267500400543213, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_thumb_1_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_1_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0513800382614136, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 87, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_thumb_2_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Physics/right_thumb_2_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.6071300506591797, + "damping": 0.0, + "max_force": 2.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 96, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..e4923b24a0bb3222c804429fdf548ecebcfb574b --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/inspire_hand.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/license.txt b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.thumbs/256x256/inspire_hand.usda.png b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.thumbs/256x256/inspire_hand.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..18f8750a41c04149eac1bf694855ebfb7e53ab37 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.thumbs/256x256/inspire_hand.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb8d7ff1cb3956ca685507e54f5d565dcebb5f8c743859a82e0d5cf268b3d62e +size 41998 diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Plastic_ABS.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Plastic_ABS.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4d5c6a96c6bf9d2c342c11f6a2e1cb7c2a0e9a16 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Plastic_ABS.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Plastic_ABS(*) + = OmniPBR( + diffuse_color_constant: color(1.0, 1.0, 1.0), + diffuse_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_BaseColor.png", ::tex::gamma_srgb + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(0.005f, 0.005f, 0.005f), + reflection_roughness_constant: 0.28, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.0, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_ORM.png", ::tex::gamma_linear + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(0.0, 0.0, 0.0), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.0, + bump_factor: 1.f, + normalmap_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_Normal.png", ::tex::gamma_linear + detail_bump_factor: 0.3f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth.mdl new file mode 100644 index 0000000000000000000000000000000000000000..41c5612b8d05f8725577b59853334c433262dca2 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Rubber_Smooth(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Rubber_Smooth_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Rubber_Smooth_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Rubber_Smooth_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_BaseColor.png b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..282c1fe65a39885bfabe0225c8d934039642c383 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d87ef61bed3172e33d2840405b70da6764a187fa6da446648915fe78e5a4699e +size 16903 diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_Normal.png b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..cd34ca1166e9211ca8bf3e9eff0edb92c23df952 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ca864b6329c0c1685c7cac92058549995c971bde1b06544c954571d22994ab8 +size 4277464 diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_ORM.png b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..1592a565611a8ba0c16643922a2a7bd5c0dd3cb4 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea236680ed062715bea6365f1ebca80d44766cd2b6d3fb1ba17aa2669384aab4 +size 1569979 diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/com.nvidia.simready.packaging.json b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..9dadf31ce60015eb497510cce98300a49ddc83da --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.inspirerobots_inspire_hand_rh56dfx_right_inspire_hand.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "7414122b67854d33ea911b7ae08a3b75432ee01a553b4eec243a17f14b7e70f2" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "6e52755f1b59c9c385e6ba3afb15bbc44e355e3b1bdc80abe0ca68c16dd3df72" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "79127f2b649591cb0beb8ea482610058962d37b8775c9cb49304dc8e73914161" + } + }, + { + "name": "inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_benchmark.json", + "hash": { + "sha256": "2506cc570845cc8fbe7a06e3d583a2ad842c34f69415bb4d0c8a6f3385e0458b" + } + }, + { + "name": "inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json", + "hash": { + "sha256": "a3417acb0a8017e0a8c03aa57af8530121771a66acf1230b9fd57985297e9a08" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + } + ], + "content_hash": { + "sha256": "4d4e93d6a7efbb6c0fda59103788008ab2fc9b27a9a19f900772ffa0802004aa" + }, + "package_hash": { + "sha256": "2bf0be8b2abda97d7db0f2e07bac33b329242dfdb052ea9186401577445c8306" + } +} diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/inspire_hand.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/inspire_hand.usda new file mode 100644 index 0000000000000000000000000000000000000000..3c2b284c77a417bbeaf61f0a208e6689c239e9c1 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/inspire_hand.usda @@ -0,0 +1,1933 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/inspire_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/inspire_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/inspire_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075467505, 0.15678728, 0.21691619) + string asset_license = "CC-BY-4.0" + string asset_name = "inspire_hand" + string asset_type = "robot" + string author = "InspireRobots" + string category = "robot end effector" + double mass = 0.583441941827914 + string qcode = "Q1340324" + int rigid_body_count = 35 + string source_file = "InspireRobots/Inspire_Hand_RH56DFX_right/inspire_hand/inspire_hand.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "inspire_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "r_base_link" + { + over "r_base_link_1" + { + over "r_base_link" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_1" + { + over "right_thumb_1_1" + { + over "right_thumb_1" + { + token visibility = "invisible" + } + } + } + + over "right_index_1" + { + over "right_index_1_1" + { + over "right_index_1" + { + token visibility = "invisible" + } + } + } + + over "right_middle_1" + { + over "right_middle_1_1" + { + over "right_middle_1" + { + token visibility = "invisible" + } + } + } + + over "right_ring_1" + { + over "right_ring_1_1" + { + over "right_ring_1" + { + token visibility = "invisible" + } + } + } + + over "right_little_1" + { + over "right_little_1_1" + { + over "right_little_1" + { + token visibility = "invisible" + } + } + } + + over "right_little_rubber_1" + { + over "right_little_rubber_1_1" + { + over "right_little_rubber_1" + { + token visibility = "invisible" + } + } + } + + over "right_little_2" + { + over "right_little_2_1" + { + over "right_little_2" + { + token visibility = "invisible" + } + } + } + + over "right_ring_2" + { + over "right_ring_2_1" + { + over "right_ring_2" + { + token visibility = "invisible" + } + } + } + + over "right_ring_rubber_1" + { + over "right_ring_rubber_1_1" + { + over "right_ring_rubber_1" + { + token visibility = "invisible" + } + } + } + + over "right_middle_2" + { + over "right_middle_2_1" + { + over "right_middle_2" + { + token visibility = "invisible" + } + } + } + + over "right_middle_rubber_1" + { + over "right_middle_rubber_1_1" + { + over "right_middle_rubber_1" + { + token visibility = "invisible" + } + } + } + + over "right_index_2" + { + over "right_index_2_1" + { + over "right_index_2" + { + token visibility = "invisible" + } + } + } + + over "right_index_rubber_1" + { + over "right_index_rubber_1_1" + { + over "right_index_rubber_1" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_2" + { + over "right_thumb_2_1" + { + over "right_thumb_2" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_rubber_1" + { + over "right_thumb_rubber_1_1" + { + over "right_thumb_rubber_1" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_3" + { + over "right_thumb_3_1" + { + over "right_thumb_3" + { + token visibility = "invisible" + } + } + } + + over "right_index_rubber_2" + { + over "right_index_rubber_2_1" + { + over "right_index_rubber_2" + { + token visibility = "invisible" + } + } + } + + over "right_middle_rubber_2" + { + over "right_middle_rubber_2_1" + { + over "right_middle_rubber_2" + { + token visibility = "invisible" + } + } + } + + over "right_ring_rubber_2" + { + over "right_ring_rubber_2_1" + { + over "right_ring_rubber_2" + { + token visibility = "invisible" + } + } + } + + over "right_ring_tip" + { + over "right_ring_tip_1" + { + over "right_ring_tip" + { + token visibility = "invisible" + } + } + } + + over "right_ring_pad" + { + over "right_ring_pad_1" + { + over "right_ring_pad" + { + token visibility = "invisible" + } + } + } + + over "right_middle_tip" + { + over "right_middle_tip_1" + { + over "right_middle_tip" + { + token visibility = "invisible" + } + } + } + + over "right_middle_pad" + { + over "right_middle_pad_1" + { + over "right_middle_pad" + { + token visibility = "invisible" + } + } + } + + over "right_index_tip" + { + over "right_index_tip_1" + { + over "right_index_tip" + { + token visibility = "invisible" + } + } + } + + over "right_index_pad" + { + over "right_index_pad_1" + { + over "right_index_pad" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_rubber_2" + { + over "right_thumb_rubber_2_1" + { + over "right_thumb_rubber_2" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_4" + { + over "right_thumb_4_1" + { + over "right_thumb_4" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_rubber_3" + { + over "right_thumb_rubber_3_1" + { + over "right_thumb_rubber_3" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_pad" + { + over "right_thumb_pad_1" + { + over "right_thumb_pad" + { + token visibility = "invisible" + } + } + } + + over "right_thumb_tip" + { + over "right_thumb_tip_1" + { + over "right_thumb_tip" + { + token visibility = "invisible" + } + } + } + + over "right_little_rubber_2" + { + over "right_little_rubber_2_1" + { + over "right_little_rubber_2" + { + token visibility = "invisible" + } + } + } + + over "right_little_pad" + { + over "right_little_pad_1" + { + over "right_little_pad" + { + token visibility = "invisible" + } + } + } + + over "right_little_tip" + { + over "right_little_tip_1" + { + over "right_little_tip" + { + token visibility = "invisible" + } + } + } + + over "palm" + { + over "plam_1" + { + over "plam" + { + token visibility = "invisible" + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBRBase.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR_ClearCoat.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/aux_definitions.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/core_definitions.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/license.txt b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/support_definitions.mdl b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/mujoco.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..cd42249073d76a76aadc37d1f2ee26bfa1965bfc --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/mujoco.usda @@ -0,0 +1,570 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "inspire_hand" +{ + over "Physics" + { + over "right_thumb_1_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_thumb_2_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_thumb_3_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_thumb_4_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_thumb_rubber_3_joint" + { + } + + over "right_thumb_pad_joint" + { + } + + over "right_thumb_tip_joint" + { + } + + over "right_thumb_rubber_2_joint" + { + } + + over "right_thumb_rubber_1_joint" + { + } + + over "right_index_1_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_index_rubber_1_joint" + { + } + + over "right_index_2_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_index_rubber_2_joint" + { + } + + over "right_index_pad_joint" + { + } + + over "right_index_tip_joint" + { + } + + over "right_middle_1_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_middle_rubber_1_joint" + { + } + + over "right_middle_2_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_middle_rubber_2_joint" + { + } + + over "right_middle_pad_joint" + { + } + + over "right_middle_tip_joint" + { + } + + over "right_ring_1_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_ring_rubber_1_joint" + { + } + + over "right_ring_2_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_ring_rubber_2_joint" + { + } + + over "right_ring_pad_joint" + { + } + + over "right_ring_tip_joint" + { + } + + over "right_little_1_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_little_rubber_1_joint" + { + } + + over "right_little_2_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_little_rubber_2_joint" + { + } + + over "right_little_pad_joint" + { + } + + over "right_little_tip_joint" + { + } + + over "FixedJoint" + { + } + + over "palm_joint" + { + } + } + + over "r_base_link" + { + over "r_base_link" + { + } + + over "r_base_link_1" + { + } + } + + over "right_thumb_1" + { + over "right_thumb_1" + { + } + + over "right_thumb_1_1" + { + } + } + + over "right_index_1" + { + over "right_index_1" + { + } + + over "right_index_1_1" + { + } + } + + over "right_middle_1" + { + over "right_middle_1" + { + } + + over "right_middle_1_1" + { + } + } + + over "right_ring_1" + { + over "right_ring_1" + { + } + + over "right_ring_1_1" + { + } + } + + over "right_little_1" + { + over "right_little_1" + { + } + + over "right_little_1_1" + { + } + } + + over "right_little_rubber_1" + { + over "right_little_rubber_1" + { + } + + over "right_little_rubber_1_1" + { + } + } + + over "right_little_2" + { + over "right_little_2" + { + } + + over "right_little_2_1" + { + } + } + + over "right_ring_2" + { + over "right_ring_2" + { + } + + over "right_ring_2_1" + { + } + } + + over "right_ring_rubber_1" + { + over "right_ring_rubber_1" + { + } + + over "right_ring_rubber_1_1" + { + } + } + + over "right_middle_2" + { + over "right_middle_2" + { + } + + over "right_middle_2_1" + { + } + } + + over "right_middle_rubber_1" + { + over "right_middle_rubber_1" + { + } + + over "right_middle_rubber_1_1" + { + } + } + + over "right_index_2" + { + over "right_index_2" + { + } + + over "right_index_2_1" + { + } + } + + over "right_index_rubber_1" + { + over "right_index_rubber_1" + { + } + + over "right_index_rubber_1_1" + { + } + } + + over "right_thumb_2" + { + over "right_thumb_2" + { + } + + over "right_thumb_2_1" + { + } + } + + over "right_thumb_rubber_1" + { + over "right_thumb_rubber_1" + { + } + + over "right_thumb_rubber_1_1" + { + } + } + + over "right_thumb_3" + { + over "right_thumb_3" + { + } + + over "right_thumb_3_1" + { + } + } + + over "right_index_rubber_2" + { + over "right_index_rubber_2" + { + } + + over "right_index_rubber_2_1" + { + } + } + + over "right_middle_rubber_2" + { + over "right_middle_rubber_2" + { + } + + over "right_middle_rubber_2_1" + { + } + } + + over "right_ring_rubber_2" + { + over "right_ring_rubber_2" + { + } + + over "right_ring_rubber_2_1" + { + } + } + + over "right_ring_tip" + { + over "right_ring_tip" + { + } + + over "right_ring_tip_1" + { + } + } + + over "right_ring_pad" + { + over "right_ring_pad" + { + } + + over "right_ring_pad_1" + { + } + } + + over "right_middle_tip" + { + over "right_middle_tip" + { + } + + over "right_middle_tip_1" + { + } + } + + over "right_middle_pad" + { + over "right_middle_pad" + { + } + + over "right_middle_pad_1" + { + } + } + + over "right_index_tip" + { + over "right_index_tip" + { + } + + over "right_index_tip_1" + { + } + } + + over "right_index_pad" + { + over "right_index_pad" + { + } + + over "right_index_pad_1" + { + } + } + + over "right_thumb_rubber_2" + { + over "right_thumb_rubber_2" + { + } + + over "right_thumb_rubber_2_1" + { + } + } + + over "right_thumb_4" + { + over "right_thumb_4" + { + } + + over "right_thumb_4_1" + { + } + } + + over "right_thumb_rubber_3" + { + over "right_thumb_rubber_3" + { + } + + over "right_thumb_rubber_3_1" + { + } + } + + over "right_thumb_pad" + { + over "right_thumb_pad" + { + } + + over "right_thumb_pad_1" + { + } + } + + over "right_thumb_tip" + { + over "right_thumb_tip" + { + } + + over "right_thumb_tip_1" + { + } + } + + over "right_little_rubber_2" + { + over "right_little_rubber_2" + { + } + + over "right_little_rubber_2_1" + { + } + } + + over "right_little_pad" + { + over "right_little_pad" + { + } + + over "right_little_pad_1" + { + } + } + + over "right_little_tip" + { + over "right_little_tip" + { + } + + over "right_little_tip_1" + { + } + } + + over "palm" + { + over "plam" + { + } + + over "plam_1" + { + } + } + + over "VisualMaterials" + { + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/none.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c2cb84bc19d0ae92b314b0a02cdaf7202509186 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/none.usda @@ -0,0 +1,16 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def "inspire_hand" +{ +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physics.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..08fdb4d419f15356dc979a5ff7597a51ba7b88ce --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physics.usda @@ -0,0 +1,1518 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "inspire_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + string[] isaac:changelog ( + displayName = "Changelog" + ) + string isaac:description ( + displayName = "Description" + ) + token isaac:license ( + displayName = "License" + ) + string isaac:namespace ( + displayName = "Namespace" + ) + rel isaac:physics:robotJoints ( + displayName = "Robot Joints" + ) + rel isaac:physics:robotLinks ( + displayName = "Robot Links" + ) + token isaac:robotType ( + displayName = "Robot Type" + ) + string isaac:source ( + displayName = "Source" + ) + string isaac:version ( + displayName = "Version" + ) + rel material:binding:physics = + + over "Physics" + { + def PhysicsRevoluteJoint "right_thumb_1_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.02 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0.0020312648 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.01696, 0.02045, 0.0667) + point3f physics:localPos1 = (6.192923e-10, -2.8014183e-10, -3.4093857e-9) + quatf physics:localRot0 = (-1.6081226e-16, 1, 0, 0) + quatf physics:localRot1 = (-1.6081226e-16, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 75.000175 + float state:angular:physics:position = 0.0020312648 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_thumb_2_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.025 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0.024421632 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0107040005, 0.009037601, -0.0065000015) + point3f physics:localPos1 = (-5.7490906e-10, -1.680851e-9, -2.0329793e-11) + quatf physics:localRot0 = (-0.4304589, 0.43045735, -0.56098545, 0.5609875) + quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8) + float physics:lowerLimit = 0 + float physics:upperLimit = 30.00007 + float state:angular:physics:position = 0.024421632 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_thumb_3_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.041584, 0.037508003, 0.0004999986) + point3f physics:localPos1 = (-6.430835e-10, 2.911223e-9, -1.380472e-9) + quatf physics:localRot0 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8) + quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8) + float physics:lowerLimit = 0 + float physics:upperLimit = 34.275085 + float state:angular:physics:position = -0.0058551845 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_thumb_4_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.018393002, 0.013222002, 0.0014999995) + point3f physics:localPos1 = (-1.996711e-9, 2.109594e-9, -4.629426e-10) + quatf physics:localRot0 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8) + quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8) + float physics:lowerLimit = -0.1 + float physics:upperLimit = 25.63374 + float state:angular:physics:position = 0.00060249155 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_index_1_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.015 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0.0040998156 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.00028533, 0.032168, 0.13653) + point3f physics:localPos1 = (4.3231248e-12, -2.9743368e-9, -1.040914e-9) + quatf physics:localRot0 = (-0.6946621, 0.7193362, 0, 0) + quatf physics:localRot1 = (-1.8855462e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 77.00553 + float state:angular:physics:position = 0.0040998156 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_index_2_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.0008000014) + point3f physics:localPos1 = (7.801532e-11, -3.6324226e-9, 1.3805375e-9) + quatf physics:localRot0 = (-1.8855462e-10, 1, 0, 0) + quatf physics:localRot1 = (-1.8855462e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 87.490654 + float state:angular:physics:position = 0.1523337 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_middle_1_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.015 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = -0.00004728383 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.00028533, 0.01285, 0.1371) + point3f physics:localPos1 = (4.3231248e-12, -3.790854e-9, 4.08306e-10) + quatf physics:localRot0 = (0.7071081, -0.70710546, 0, 0) + quatf physics:localRot1 = (-6.405457e-14, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 77.00553 + float state:angular:physics:position = -0.00004728383 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_middle_2_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.00080000004) + point3f physics:localPos1 = (7.801533e-11, -2.9504679e-9, 3.949925e-11) + quatf physics:localRot0 = (-6.405457e-14, 1, 0, 0) + quatf physics:localRot1 = (-6.405457e-14, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 87.490654 + float state:angular:physics:position = 0.12932995 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_ring_1_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.015 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0.0005266489 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.00028533, -0.006387, 0.13691) + point3f physics:localPos1 = (4.3231248e-12, 6.393674e-9, -3.6323258e-10) + quatf physics:localRot0 = (0.7253894, -0.6883387, 0, 0) + quatf physics:localRot1 = (-6.509616e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 77.00553 + float state:angular:physics:position = 0.0005266489 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_ring_2_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0071189003, 0.031334, 0.00080000004) + point3f physics:localPos1 = (7.801533e-11, 2.5874744e-10, 3.947774e-11) + quatf physics:localRot0 = (-6.509616e-10, 1, 0, 0) + quatf physics:localRot1 = (-6.509616e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 87.490654 + float state:angular:physics:position = 0.13946456 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_little_1_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.015 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0.0015600597 + float drive:angular:physics:targetVelocity = 0 + bool[] isaac:actuator + string isaac:NameOverride + token[] isaac:physics:DofOffsetOpOrder + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.00028533, -0.025587, 0.1357) + point3f physics:localPos1 = (4.3231248e-12, 2.2950615e-9, -2.8865016e-10) + quatf physics:localRot0 = (0.74313945, -0.6691366, 0, 0) + quatf physics:localRot1 = (1.7235711e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 77.00553 + float state:angular:physics:position = 0.0015600597 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsRevoluteJoint "right_little_2_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.00080000027) + point3f physics:localPos1 = (7.801532e-11, -3.802585e-9, 2.9762995e-10) + quatf physics:localRot0 = (1.7235711e-10, 1, 0, 0) + quatf physics:localRot1 = (1.7235711e-10, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 87.490654 + float state:angular:physics:position = 0.14412639 + float state:angular:physics:velocity = 0 + custom float urdf:limit:effort = 1 + custom float urdf:limit:velocity = 2 + } + + def PhysicsFixedJoint "right_thumb_rubber_3_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.0016179979, 0.009709002, 0.0060000005) + point3f physics:localPos1 = (-4.3510673e-10, 5.615379e-10, 2.861064e-9) + quatf physics:localRot0 = (0.6702149, -0.20799269, 0.6825223, 0.20424087) + quatf physics:localRot1 = (1, -3.1266485e-8, -7.2541795e-8, -9.476373e-9) + } + + def PhysicsFixedJoint "right_thumb_pad_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.00001973256, 0.007876834, -0.001087649) + point3f physics:localPos1 = (1.9462703e-9, -4.6921467e-9, -1.5422584e-9) + quatf physics:localRot0 = (0.98693997, -0.16083227, -0.00896506, -0.0014536111) + quatf physics:localRot1 = (1, -6.887664e-8, 9.066396e-9, 2.6639132e-8) + } + + def PhysicsFixedJoint "right_thumb_tip_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (1.9846262e-7, 0.008839671, -0.003847539) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.87191683, -0.48960567, -0.0059734923, 0.0034218272) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_thumb_rubber_2_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.005070003, 0.011873998, 0.007500001) + point3f physics:localPos1 = (-1.0872154e-9, 1.5924182e-9, -3.292168e-9) + quatf physics:localRot0 = (0.6068596, -0.35679203, 0.61769503, 0.35053343) + quatf physics:localRot1 = (1, 1.2234312e-7, 1.7031403e-9, -4.03925e-8) + } + + def PhysicsFixedJoint "right_thumb_rubber_1_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.0130469985, 0.031386, 0.007999099) + point3f physics:localPos1 = (1.2564741e-9, -9.725813e-10, 9.680877e-10) + quatf physics:localRot0 = (0.6260834, -0.32403147, 0.6326149, 0.32065806) + quatf physics:localRot1 = (1, -1.36143035e-8, 1.5695102e-9, 5.474611e-9) + } + + def PhysicsFixedJoint "right_index_rubber_1_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.010962, 0.015475006, 0.005899101) + point3f physics:localPos1 = (-9.0036434e-10, 5.8385163e-9, 2.7678548e-10) + quatf physics:localRot0 = (0.7067159, -0.023508254, 0.706716, 0.023505667) + quatf physics:localRot1 = (1, 3.2392318e-8, 3.3623696e-8, 3.4703355e-8) + } + + def PhysicsFixedJoint "right_index_rubber_2_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0070147, 0.012486005, 0.0050557004) + point3f physics:localPos1 = (-2.2035573e-10, 5.1054996e-9, -3.2391995e-10) + quatf physics:localRot0 = (0.70568174, 0.044869784, 0.7059784, -0.039931554) + quatf physics:localRot1 = (1, -2.685961e-8, -2.7532424e-8, -2.3734327e-8) + } + + def PhysicsFixedJoint "right_index_pad_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.000030024512, 0.023788214, 0.0056216563) + point3f physics:localPos1 = (1.2849274e-10, 6.421435e-9, -4.7770225e-11) + quatf physics:localRot0 = (0.9993929, 0.034838825, -0.000028137736, -0.00018014848) + quatf physics:localRot1 = (1, -1.2157582e-8, -1.2444883e-8, -9.990222e-9) + } + + def PhysicsFixedJoint "right_index_tip_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.0000198326, 0.0071944217, -0.0036742052) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.57983184, -0.4078495, -0.40470964, -0.5776365) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_middle_rubber_1_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.010962, 0.015474994, 0.0058999998) + point3f physics:localPos1 = (1.8511696e-11, -6.575064e-9, -5.499371e-10) + quatf physics:localRot0 = (0.7067159, -0.023508273, 0.706716, 0.023505682) + quatf physics:localRot1 = (1, 1.4379748e-8, 1.4379748e-8, 1.5369269e-8) + } + + def PhysicsFixedJoint "right_middle_rubber_2_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0072844997, 0.0125180045, 0.0050017997) + point3f physics:localPos1 = (1.3900645e-10, 4.3719237e-9, -8.745094e-10) + quatf physics:localRot0 = (0.70501715, 0.05432166, 0.7052848, -0.05072796) + quatf physics:localRot1 = (1, -1.592668e-8, -4.7678746e-8, 1.4609911e-8) + } + + def PhysicsFixedJoint "right_middle_pad_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.000052543714, 0.027501822, 0.005459816) + point3f physics:localPos1 = (-9.425753e-11, 7.3959585e-9, -7.6859275e-10) + quatf physics:localRot0 = (0.99999666, -0.0025835803, -7.168341e-8, 0.000026121528) + quatf physics:localRot1 = (1, 1.5602385e-8, 1.5532821e-8, 1.3519463e-8) + } + + def PhysicsFixedJoint "right_middle_tip_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.000030720326, 0.0073085586, -0.0031877807) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6053515, -0.3712604, -0.36544418, -0.6018022) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_ring_rubber_1_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.010962, 0.015474996, 0.0059) + point3f physics:localPos1 = (-1.537554e-10, -4.2908335e-9, -3.978114e-10) + quatf physics:localRot0 = (0.7067159, -0.023508273, 0.706716, 0.023505693) + quatf physics:localRot1 = (1, 1.5146348e-8, 1.4320989e-8, 1.6133654e-8) + } + + def PhysicsFixedJoint "right_ring_rubber_2_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.006853394, 0.012369346, 0.005085203) + point3f physics:localPos1 = (-5.273076e-10, -2.3360278e-9, 4.5003457e-10) + quatf physics:localRot0 = (0.7054384, 0.048546012, 0.70604336, -0.038765434) + quatf physics:localRot1 = (1, 7.827796e-9, 7.3824156e-9, 6.9710997e-9) + } + + def PhysicsFixedJoint "right_ring_pad_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.00003192573, 0.0237882, 0.005621647) + point3f physics:localPos1 = (-4.913817e-10, -6.6035035e-9, 2.0930413e-9) + quatf physics:localRot0 = (0.9993929, 0.034838703, 0.000032897056, 0.0002059084) + quatf physics:localRot1 = (1, -1.1674603e-10, -1.105062e-10, -9.733529e-11) + } + + def PhysicsFixedJoint "right_ring_tip_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.000021102542, 0.0071944185, -0.003674204) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.5775682, 0.40462518, 0.40793362, 0.57989967) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_little_rubber_1_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.010962, 0.015474996, 0.0059000016) + point3f physics:localPos1 = (-1.8148505e-9, -4.1593022e-9, -3.890515e-10) + quatf physics:localRot0 = (0.7067159, -0.023508288, 0.706716, 0.023505673) + quatf physics:localRot1 = (1, -2.0824094e-8, -1.8615347e-8, -2.2109974e-8) + } + + def PhysicsFixedJoint "right_little_rubber_2_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.0060598003, 0.012027997, 0.0050999993) + point3f physics:localPos1 = (5.909708e-10, -3.7759067e-9, 3.7874806e-10) + quatf physics:localRot0 = (0.7071026, 0.0024408407, 0.70710254, -0.0024382116) + quatf physics:localRot1 = (1, 5.738803e-9, 5.171041e-9, 5.7032583e-9) + } + + def PhysicsFixedJoint "right_little_pad_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (8.7325824e-10, 0.01581066, 0.006224508) + point3f physics:localPos1 = (8.7325824e-10, 4.6348858e-10, -1.4252161e-9) + quatf physics:localRot0 = (0.9931447, 0.116891496, -1.5952557e-8, 3.756071e-9) + quatf physics:localRot1 = (1, -2.716144e-9, -2.5018274e-9, -2.181656e-9) + } + + def PhysicsFixedJoint "right_little_tip_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-2.2221573e-9, 0.0069083394, -0.004298011) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.5349028, 0.4624704, 0.46247017, 0.5349032) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "palm_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.014363, -0.0044514, 0.10148) + point3f physics:localPos1 = (-1.3471309e-10, -2.789491e-10, 1.6939693e-10) + quatf physics:localRot0 = (0.49999815, 0.5, 0.50000185, 0.5) + quatf physics:localRot1 = (1, 2.8450504e-12, 2.8450471e-12, 2.8450651e-12) + } + + def PhysicsFixedJoint "FixedJoint" + { + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 2 + float physics:restitution = 0 + float physics:staticFriction = 2 + } + } + + over "r_base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.00026860446, -0.0015639158, 0.06766505) + float3 physics:diagonalInertia = (0.000322881, 0.00020837577, 0.00018475551) + rel physics:filteredPairs = [ + , + , + , + , + , + , + ] + float physics:mass = 0.44281137 + quatf physics:principalAxes = (0.99963427, 0.02544539, 0.007173771, 0.005702033) + vector3f physics:velocity = (0, 0, 0) + + over "r_base_link_1" ( + instanceable = false + ) + { + over "r_base_link" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.00067536125, 0.004335544, -0.0050877957) + float3 physics:diagonalInertia = (2.1342578e-7, 1.2420287e-7, 1.7068048e-7) + rel physics:filteredPairs = + float physics:mass = 0.0048541455 + quatf physics:principalAxes = (0.96885544, 0.093335114, -0.029149828, -0.227504) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_1_1" ( + instanceable = false + ) + { + over "right_thumb_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0004615095, 0.011651217, 0.005900052) + float3 physics:diagonalInertia = (0.000001414927, 4.2106103e-7, 0.0000014695869) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.008812271 + quatf physics:principalAxes = (0.9984136, 0.0000041033427, 0.0000048903808, -0.056305405) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_1_1" ( + instanceable = false + ) + { + over "right_index_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0004615369, 0.011651613, 0.005899952) + float3 physics:diagonalInertia = (0.000001414881, 4.2105336e-7, 0.0000014695391) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.008812009 + quatf physics:principalAxes = (0.99841356, 0.000011072121, 0.000023128996, -0.056306522) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_1_1" ( + instanceable = false + ) + { + over "right_middle_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0004615298, 0.011651628, 0.005899971) + float3 physics:diagonalInertia = (0.0000014148795, 4.2105268e-7, 0.0000014695385) + rel physics:filteredPairs = + float physics:mass = 0.008811991 + quatf physics:principalAxes = (0.99841356, 0.000009785483, 0.0000150539945, -0.056306314) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_1_1" ( + instanceable = false + ) + { + over "right_ring_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.00046153588, 0.011651631, 0.0058999746) + float3 physics:diagonalInertia = (0.0000014148796, 4.210531e-7, 0.0000014695391) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.008811997 + quatf physics:principalAxes = (0.99841356, 0.0000094640245, 0.00001236591, -0.05630618) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_1_1" ( + instanceable = false + ) + { + over "right_little_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "palm" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.004874761, -0.007925906, 0.0004072874) + float3 physics:diagonalInertia = (0.0000027733547, 0.000006477909, 0.000009112264) + rel physics:filteredPairs = [ + , + , + , + , + , + , + ] + float physics:mass = 0.0103872605 + quatf physics:principalAxes = (0.93514335, -0.08320412, 0.01097646, 0.34418535) + vector3f physics:velocity = (0, 0, 0) + + over "plam_1" ( + instanceable = false + ) + { + over "plam" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_rubber_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (5.201798e-7, -0.0002771247, -0.008106602) + float3 physics:diagonalInertia = (9.5259594e-8, 5.8296262e-8, 8.740782e-8) + float physics:mass = 0.0010074534 + quatf physics:principalAxes = (0.9771005, 0.21277846, -0.00014323652, -0.000013176708) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_rubber_1_1" ( + instanceable = false + ) + { + over "right_little_rubber_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.000096593474, 0.013170638, 0.0051008957) + float3 physics:diagonalInertia = (5.1122174e-7, 1.16669256e-7, 5.2097784e-7) + rel physics:filteredPairs = [ + , + , + , + , + , + ] + float physics:mass = 0.0073597566 + quatf physics:principalAxes = (0.98062676, 0.00003999583, -0.00010044921, -0.19588561) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_2_1" ( + instanceable = false + ) + { + over "right_little_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.000846434, 0.015969735, 0.0051009785) + float3 physics:diagonalInertia = (9.156357e-7, 1.50855e-7, 9.313493e-7) + rel physics:filteredPairs = [ + , + , + ] + float physics:mass = 0.0092522865 + quatf physics:principalAxes = (0.9806018, 0.00002932577, -0.00011366896, -0.19601105) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_2_1" ( + instanceable = false + ) + { + over "right_ring_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_rubber_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (5.215598e-7, -0.00027711873, -0.008106587) + float3 physics:diagonalInertia = (9.525907e-8, 5.8296127e-8, 8.740734e-8) + float physics:mass = 0.0010074469 + quatf physics:principalAxes = (0.9771012, 0.2127751, -0.00014230443, -0.000012125145) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_rubber_1_1" ( + instanceable = false + ) + { + over "right_ring_rubber_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0014102435, 0.017229268, 0.0051010014) + float3 physics:diagonalInertia = (0.0000011552219, 1.6409349e-7, 0.0000011727475) + rel physics:filteredPairs = [ + , + , + , + , + , + ] + float physics:mass = 0.010050019 + quatf physics:principalAxes = (0.9803565, 0.00003053615, -0.00009600453, -0.19723351) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_2_1" ( + instanceable = false + ) + { + over "right_middle_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_rubber_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (5.0335103e-7, -0.0002771516, -0.008106726) + float3 physics:diagonalInertia = (9.5260404e-8, 5.829618e-8, 8.7408566e-8) + float physics:mass = 0.0010074532 + quatf physics:principalAxes = (0.9770986, 0.21278715, -0.00015391436, -0.000019183066) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_rubber_1_1" ( + instanceable = false + ) + { + over "right_middle_rubber_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0008464265, 0.0159697, 0.00510099) + float3 physics:diagonalInertia = (9.1563606e-7, 1.5085519e-7, 9.313508e-7) + rel physics:filteredPairs = [ + , + , + , + , + , + ] + float physics:mass = 0.009252298 + quatf physics:principalAxes = (0.98060185, 0.00003386644, -0.00009146915, -0.19601066) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_2_1" ( + instanceable = false + ) + { + over "right_index_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_rubber_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (4.1280595e-7, -0.0002775566, -0.00810726) + float3 physics:diagonalInertia = (9.527055e-8, 5.829811e-8, 8.7416595e-8) + float physics:mass = 0.0010075114 + quatf physics:principalAxes = (0.9770841, 0.21285367, -0.00013459593, -0.000025639478) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_rubber_1_1" ( + instanceable = false + ) + { + over "right_index_rubber_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.02170206, 0.014007336, 0.008023856) + float3 physics:diagonalInertia = (0.000002752317, 0.0000072691887, 0.000009413843) + rel physics:filteredPairs = + float physics:mass = 0.03146403 + quatf physics:principalAxes = (0.933735, 0.00036750472, -0.00021923795, -0.35796493) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_2_1" ( + instanceable = false + ) + { + over "right_thumb_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.00005251238, -0.0026515818, -0.0052415654) + float3 physics:diagonalInertia = (1.8877094e-7, 8.676248e-8, 2.267513e-7) + float physics:mass = 0.0014907134 + quatf physics:principalAxes = (0.99989766, 0.013294178, -0.00529621, 0.00020535247) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_rubber_1_1" ( + instanceable = false + ) + { + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.009163888, -0.00021369001, 0.007500288) + float3 physics:diagonalInertia = (8.2842917e-7, 4.3848218e-7, 8.41965e-7) + rel physics:filteredPairs = [ + , + , + ] + float physics:mass = 0.0063773748 + quatf physics:principalAxes = (0.9564325, 0.000019949832, -0.00010474526, 0.2919535) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_3_1" ( + instanceable = false + ) + { + over "right_thumb_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_rubber_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.0000035835628, 0.015853807, -0.00068308087) + float3 physics:diagonalInertia = (1.3590099e-7, 2.1079783e-8, 1.3962527e-7) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.0011900333 + quatf physics:principalAxes = (0.9976733, 0.068127476, 0.0026178386, -0.00017183255) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_rubber_2_1" ( + instanceable = false + ) + { + over "right_index_rubber_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_rubber_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.000007786608, 0.017969595, -0.00080422394) + float3 physics:diagonalInertia = (1.7686044e-7, 2.3184224e-8, 1.8086637e-7) + rel physics:filteredPairs = [ + , + , + ] + float physics:mass = 0.0013048812 + quatf physics:principalAxes = (0.9983048, 0.058001176, 0.0048341677, -0.0002711892) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_rubber_2_1" ( + instanceable = false + ) + { + over "right_middle_rubber_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_rubber_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.000003861394, 0.015853766, -0.00068306975) + float3 physics:diagonalInertia = (1.3590234e-7, 2.1079947e-8, 1.3962674e-7) + float physics:mass = 0.0011900503 + quatf physics:principalAxes = (0.9976725, 0.0681276, -0.002874823, 0.0002022423) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_rubber_2_1" ( + instanceable = false + ) + { + over "right_ring_rubber_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_tip" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.0008566649, 1.8455886e-8, -0.001021837) + float3 physics:diagonalInertia = (7.058963e-11, 4.342891e-11, 9.6679956e-11) + float physics:mass = 0.00004858118 + quatf physics:principalAxes = (0.99237055, 0.000005901613, -0.12329138, -0.000018402254) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_tip_1" ( + instanceable = false + ) + { + over "right_ring_tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_ring_pad" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.000004936719, -0.0010735873, -0.00086732174) + float3 physics:diagonalInertia = (5.557718e-11, 6.942344e-11, 1.1173921e-10) + rel physics:filteredPairs = + float physics:mass = 0.00004915806 + quatf physics:principalAxes = (0.9983331, 0.057643726, -0.0028530643, 0.00014196348) + vector3f physics:velocity = (0, 0, 0) + + over "right_ring_pad_1" ( + instanceable = false + ) + { + over "right_ring_pad" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_tip" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.0007042831, 1.6783924e-8, -0.0010250747) + float3 physics:diagonalInertia = (7.163747e-11, 4.4042575e-11, 9.678263e-11) + float physics:mass = 0.000049100596 + quatf physics:principalAxes = (0.9835209, 0.0000053838976, -0.18079485, -0.00000693046) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_tip_1" ( + instanceable = false + ) + { + over "right_middle_tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_middle_pad" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.000009145652, -0.00084064645, -0.00094948395) + float3 physics:diagonalInertia = (4.9434425e-11, 7.443799e-11, 1.0553385e-10) + rel physics:filteredPairs = + float physics:mass = 0.000050797244 + quatf physics:principalAxes = (0.9999019, 0.013151148, 0.0048179645, -0.000062626896) + vector3f physics:velocity = (0, 0, 0) + + over "right_middle_pad_1" ( + instanceable = false + ) + { + over "right_middle_pad" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_tip" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.0008566654, 1.7238602e-8, -0.001021838) + float3 physics:diagonalInertia = (7.058962e-11, 4.3428854e-11, 9.667994e-11) + float physics:mass = 0.00004858115 + quatf physics:principalAxes = (0.9923706, 0.000005777696, -0.12329078, -0.000017931978) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_tip_1" ( + instanceable = false + ) + { + over "right_index_tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_index_pad" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.000004726757, -0.0010735872, -0.0008673229) + float3 physics:diagonalInertia = (5.5577182e-11, 6.9423425e-11, 1.1173923e-10) + rel physics:filteredPairs = + float physics:mass = 0.000049158065 + quatf physics:principalAxes = (0.9983335, 0.057643633, 0.0027085308, -0.0001791441) + vector3f physics:velocity = (0, 0, 0) + + over "right_index_pad_1" ( + instanceable = false + ) + { + over "right_index_pad" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.0001571409, 0.0028855659, -0.009054062) + float3 physics:diagonalInertia = (4.209157e-8, 5.5384987e-8, 3.0953636e-8) + float physics:mass = 0.0007122935 + quatf physics:principalAxes = (0.9816406, 0.19054611, -0.008497007, 0.001372395) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_rubber_2_1" ( + instanceable = false + ) + { + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.00556382, 0.0032178648, 0.0059876214) + float3 physics:diagonalInertia = (3.1249655e-8, 1.2536333e-7, 1.3086635e-7) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.002500446 + quatf physics:principalAxes = (0.92383516, 0.010261908, -0.0027681089, -0.3826429) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_4_1" ( + instanceable = false + ) + { + over "right_thumb_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (0.00013367775, 0.0024978954, -0.007378073) + float3 physics:diagonalInertia = (1.1738951e-7, 6.605754e-8, 1.1814555e-7) + rel physics:filteredPairs = + float physics:mass = 0.002324283 + quatf physics:principalAxes = (0.9974381, 0.070965886, -0.008987603, 0.0006553661) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_rubber_3_1" ( + instanceable = false + ) + { + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_pad" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-3.178636e-8, -0.0015283646, -0.0014060655) + float3 physics:diagonalInertia = (3.8838008e-10, 2.4760058e-10, 5.0815535e-10) + rel physics:filteredPairs = + float physics:mass = 0.0001389691 + quatf physics:principalAxes = (0.99971926, 0.023698458, 0.00001612765, -0.0000068122554) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_pad_1" ( + instanceable = false + ) + { + over "right_thumb_pad" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_thumb_tip" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.00002475059, 0.001446362, -0.0018032574) + float3 physics:diagonalInertia = (5.032804e-10, 3.4790265e-10, 6.080934e-10) + float physics:mass = 0.00017110036 + quatf physics:principalAxes = (0.98572916, -0.16819763, 0.006807432, 0.0010880358) + vector3f physics:velocity = (0, 0, 0) + + over "right_thumb_tip_1" ( + instanceable = false + ) + { + over "right_thumb_tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_rubber_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (1.6242588e-7, 0.011274895, -0.00012889042) + float3 physics:diagonalInertia = (7.27275e-8, 1.668856e-8, 7.587272e-8) + rel physics:filteredPairs = [ + , + , + , + ] + float physics:mass = 0.00094469514 + quatf physics:principalAxes = (0.9934226, 0.11450578, 0.000030159998, 0.000009212831) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_rubber_2_1" ( + instanceable = false + ) + { + over "right_little_rubber_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_pad" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (1.1894516e-8, -0.0009453936, -0.00079354213) + float3 physics:diagonalInertia = (3.9390595e-11, 5.731402e-11, 8.7459144e-11) + rel physics:filteredPairs = + float physics:mass = 0.000041177398 + quatf physics:principalAxes = (0.99868935, 0.051181972, 0.0000010618292, 0.000020055792) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_pad_1" ( + instanceable = false + ) + { + over "right_little_pad" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + + over "right_little_tip" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + point3f physics:centerOfMass = (-0.00067951094, -6.0248673e-9, -0.0009899694) + float3 physics:diagonalInertia = (7.642061e-11, 4.6863256e-11, 1.0232903e-10) + float physics:mass = 0.00005124986 + quatf physics:principalAxes = (0.99082893, -4.1420353e-7, -0.13512297, -0.0000027912392) + vector3f physics:velocity = (0, 0, 0) + + over "right_little_tip_1" ( + instanceable = false + ) + { + over "right_little_tip" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physx.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..e1c646b0c1c5a94396ac741c0bde25eef5f20770 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physx.usda @@ -0,0 +1,141 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "inspire_hand" +{ + over "Physics" + { + over "right_thumb_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 107 + } + + over "right_thumb_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 70 + } + + over "right_thumb_3_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1.1425 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + + over "right_thumb_4_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -0.7508 + float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:offset = 0.1 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + + over "right_index_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 260 + } + + over "right_index_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1.1169 + float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:offset = -0.15 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + + over "right_middle_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 260 + } + + over "right_middle_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1.1169 + float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:offset = -0.15 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + + over "right_ring_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 260 + } + + over "right_ring_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1.1169 + float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:offset = -0.15 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + + over "right_little_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 260 + } + + over "right_little_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1.1169 + float physxMimicJoint:rotX:naturalFrequency = 0 + float physxMimicJoint:rotX:offset = -0.15 + rel physxMimicJoint:rotX:referenceJoint = + uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ" + } + } + + over "r_base_link" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/base.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..294c32c1962fa82bbf3adedc2a0fd29289ea334c --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/base.usda @@ -0,0 +1,872 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "inspire_hand" ( + prepend apiSchemas = ["MaterialBindingAPI", "GeomModelAPI"] + assetInfo = { + string name = "inspire_hand" + } + kind = "component" +) +{ + float3[] extentsHint = [(-0.027399994, -0.044413004, 8.9323043e-10), (0.048071586, 0.11239667, 0.21692565), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.027399994, -0.044413004, 8.9323043e-10), (0.048071586, 0.11239667, 0.21692565)] + rel material:binding ( + bindMaterialAs = "weakerThanDescendants" + ) + + def Scope "Physics" + { + } + + def Xform "r_base_link" + { + quatf xformOp:orient = (1, -3.2318647e-7, -0.0000022126683, 6.679682e-7) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-5.8612204e-7, -5.1106326e-7, -9.685755e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "r_base_link" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "r_base_link_1" ( + displayName = "r_base_link" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0.04, -0.005, 0.122) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0.035355, 0, 0.035355)] + point3f[] points = [(0, 0, 0), (0.035355, 0, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.017678, 0, -0.017678), (0.017678, 0, 0.017678)] + point3f[] points = [(0.017678, 0, -0.017678), (-0.017678, 0, 0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "right_thumb_1" + { + quatf xformOp:orient = (1, -3.5576525e-7, -0.00000221096, -0.000016934471) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.016959095373749733, 0.02044956013560295, 0.06669996678829193) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_1_1" ( + displayName = "right_thumb_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_1" + { + quatf xformOp:orient = (0.71933645, 0.69466186, 0.000023722649, -0.000023712819) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002865630085580051, 0.03216756880283356, 0.13652987778186798) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_1_1" ( + displayName = "right_index_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_1" + { + quatf xformOp:orient = (0.70710564, 0.7071079, -0.0000013671815, 0.0000022654083) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002865400165319443, 0.012849588878452778, 0.13709989190101624) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_1_1" ( + displayName = "right_middle_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_1" + { + quatf xformOp:orient = (0.68833905, 0.7253891, 0.0000022277236, -0.0000010183892) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002865128917619586, -0.006387422326952219, 0.13690991699695587) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_1_1" ( + displayName = "right_ring_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_1" + { + quatf xformOp:orient = (0.6691368, 0.7431392, 0.000009059906, -0.000006983325) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00028648076113313437, -0.025587428361177444, 0.13569994270801544) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_1_1" ( + displayName = "right_little_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_rubber_1" + { + quatf xformOp:orient = (0.49035326, 0.50946325, 0.4554282, 0.5409122) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.010675881989300251, -0.033072397112846375, 0.15047332644462585) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_rubber_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_rubber_1_1" ( + displayName = "right_little_rubber_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_2" + { + quatf xformOp:orient = (0.66913635, 0.74313855, 0.00094364583, -0.0008485551) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.006833135150372982, -0.029657799750566483, 0.166778564453125) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_2_1" ( + displayName = "right_little_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_2" + { + quatf xformOp:orient = (0.68833846, 0.72538865, 0.00088505447, -0.0008387376) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00683253351598978, -0.008827555924654007, 0.16815897822380066) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_2_1" ( + displayName = "right_ring_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_rubber_1" + { + quatf xformOp:orient = (0.5035112, 0.49646318, 0.469411, 0.5288233) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.01067556906491518, -0.013089867308735847, 0.1520545929670334) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_rubber_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_rubber_1_1" ( + displayName = "right_ring_rubber_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_2" + { + quatf xformOp:orient = (0.70710534, 0.7071073, 0.0007967204, -0.0007957724) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.006832195445895195, 0.012049496173858643, 0.16843391954898834) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_2_1" ( + displayName = "right_middle_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_rubber_1" + { + quatf xformOp:orient = (0.5163466, 0.48309988, 0.4831009, 0.51634705) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.01067538931965828, 0.00694955512881279, 0.15257494151592255) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_rubber_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_rubber_1_1" ( + displayName = "right_middle_rubber_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_2" + { + quatf xformOp:orient = (0.7193358, 0.6946612, 0.0009472072, -0.0009799628) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.006834439001977444, 0.03246127814054489, 0.16787222027778625) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_2_1" ( + displayName = "right_index_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_rubber_1" + { + quatf xformOp:orient = (0.52468055, 0.4740355, 0.4920554, 0.50782096) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.010676482692360878, 0.02681196667253971, 0.15220053493976593) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_rubber_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_rubber_1_1" ( + displayName = "right_index_rubber_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_2" + { + quatf xformOp:orient = (-0.4303272, -0.4305701, 0.5609041, 0.5610833) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02766343206167221, 0.029486795887351036, 0.060200005769729614) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_2_1" ( + displayName = "right_thumb_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_rubber_1" + { + quatf xformOp:orient = (0.94369113, 0.3052245, -0.035198484, -0.12266256) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.023310555145144463, 0.044146839529275894, 0.0915914922952652) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_rubber_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_rubber_1_1" ( + displayName = "right_thumb_rubber_1" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_3" + { + quatf xformOp:orient = (-0.43035585, -0.43054152, 0.560926, 0.5610613) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037940289825201035, 0.06976746022701263, 0.09772573411464691) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_3_1" ( + displayName = "right_thumb_3" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_rubber_2" + { + quatf xformOp:orient = (0.475745, 0.52314013, 0.53619885, 0.46095756) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013883154839277267, 0.027843624353408813, 0.1805078536272049) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_rubber_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_rubber_2_1" ( + displayName = "right_index_rubber_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_rubber_2" + { + quatf xformOp:orient = (0.45950785, 0.5374547, 0.53509915, 0.46223783) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014144876040518284, 0.007047668099403381, 0.18093545734882355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_rubber_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_rubber_2_1" ( + displayName = "right_middle_rubber_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_rubber_2" + { + quatf xformOp:orient = (0.44970825, 0.545691, 0.51470035, 0.48483747) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013716081157326698, -0.014552785083651543, 0.18022826313972473) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_rubber_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_rubber_2_1" ( + displayName = "right_ring_rubber_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_tip" + { + quatf xformOp:orient = (0.9629127, 0.032329872, 0.26780075, 0.0060597598) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02007729932665825, -0.01659741811454296, 0.21082475781440735) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_tip" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_tip_1" ( + displayName = "right_ring_tip" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_ring_pad" + { + quatf xformOp:orient = (0.43030727, 0.561117, 0.5311815, 0.4667222) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02228247933089733, -0.01610073819756508, 0.20306909084320068) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_ring_pad" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_ring_pad_1" ( + displayName = "right_ring_pad" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_tip" + { + quatf xformOp:orient = (0.95221615, 0.0016658411, 0.3053703, 0.005530905) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.021586056798696518, 0.00689533818513155, 0.2149972766637802) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_tip" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_tip_1" ( + displayName = "right_middle_tip" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_middle_pad" + { + quatf xformOp:orient = (0.4608827, 0.53627986, 0.5338891, 0.4636307) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.023678313940763474, 0.006965653970837593, 0.20730341970920563) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_middle_pad" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_middle_pad_1" ( + displayName = "right_middle_pad" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_tip" + { + quatf xformOp:orient = (0.9637933, -0.013833439, 0.26628926, -0.0010709225) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.020144034177064896, 0.0287125576287508, 0.2111809253692627) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_tip" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_tip_1" ( + displayName = "right_index_tip" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_index_pad" + { + quatf xformOp:orient = (0.45732877, 0.5393134, 0.5520134, 0.44189674) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.022374626249074936, 0.02851291373372078, 0.20341919362545013) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_index_pad" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_index_pad_1" ( + displayName = "right_index_pad" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_rubber_2" + { + quatf xformOp:orient = (0.9579314, 0.2576721, -0.025311725, -0.123822) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03200722858309746, 0.07660236954689026, 0.10960131138563156) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_rubber_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_rubber_2_1" ( + displayName = "right_thumb_rubber_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_4" + { + quatf xformOp:orient = (-0.43035278, -0.43054444, 0.56092376, 0.5610637) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04125134274363518, 0.08791771531105042, 0.11095369607210159) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_4_1" ( + displayName = "right_thumb_4" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_rubber_3" + { + quatf xformOp:orient = (0.87541413, 0.4674219, -0.05345158, -0.11094945) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03587375581264496, 0.09103058278560638, 0.12066319584846497) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_rubber_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_rubber_3_1" ( + displayName = "right_thumb_rubber_3" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_pad" + { + quatf xformOp:orient = (0.9385172, 0.31960562, -0.042077947, -0.12356021) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03724399209022522, 0.09614396840333939, 0.12659646570682526) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_pad" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_pad_1" ( + displayName = "right_thumb_pad" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_thumb_tip" + { + quatf xformOp:orient = (0.9749611, -0.18171592, 0.017107453, -0.12703358) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03966435045003891, 0.1051759421825409, 0.1289435178041458) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_thumb_tip" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_thumb_tip_1" ( + displayName = "right_thumb_tip" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_rubber_2" + { + quatf xformOp:orient = (0.4706648, 0.52770627, 0.47562507, 0.5232414) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.012923453003168106, -0.035985317081213, 0.1781923621892929) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_rubber_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_rubber_2_1" ( + displayName = "right_little_rubber_2" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_pad" + { + quatf xformOp:orient = (0.4057539, 0.5791054, 0.53352696, 0.46405792) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.019296905025839806, -0.037631556391716, 0.19385729730129242) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_pad" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_pad_1" ( + displayName = "right_little_pad" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "right_little_tip" + { + quatf xformOp:orient = (0.97982436, 0.051343556, 0.19288827, 0.010108249) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.016793278977274895, -0.03844066336750984, 0.20155633985996246) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "right_little_tip" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "right_little_tip_1" ( + displayName = "right_little_tip" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "palm" + { + quatf xformOp:orient = (0.49999908, 0.4999984, 0.50000125, 0.50000125) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014361963607370853, -0.004451830871403217, 0.10147996991872787) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "plam" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "plam_1" ( + displayName = "plam" + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..2405c3135572c0fcfeba22736cb2f41edd8464e7 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4b3ce2f8b5e8d73df8ac000945ed4c629ee04d65db0d9c79f1acdd8619ab5e +size 7568564 diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/instances.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..baef6d7b7e75a0b3c56f6285b4c39840f8b82f8e --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/instances.usda @@ -0,0 +1,3013 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "r_base_link" ( + prepend references = @./geometries.usd@ + ) + { + over "r_base_link" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "r_base_link_1" ( + prepend references = @./geometries.usd@ + ) + { + over "r_base_link" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_thumb_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_index_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_middle_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_ring_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_little_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_rubber_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_rubber_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_little_rubber_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_rubber_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_little_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_ring_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_rubber_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_rubber_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_ring_rubber_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_rubber_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_middle_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_rubber_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_rubber_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_middle_rubber_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_rubber_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_index_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_rubber_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_rubber_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_index_rubber_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_rubber_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_thumb_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_rubber_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_thumb_rubber_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_3" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_thumb_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_rubber_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_rubber_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_index_rubber_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_rubber_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_rubber_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_rubber_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_middle_rubber_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_rubber_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_rubber_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_rubber_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_ring_rubber_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_rubber_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_tip" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_tip" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_ring_tip_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_tip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_ring_pad" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_pad" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_ring_pad_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_ring_pad" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_tip" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_tip" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_middle_tip_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_tip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_middle_pad" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_pad" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_middle_pad_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_middle_pad" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_tip" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_tip" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_index_tip_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_tip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_index_pad" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_pad" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_index_pad_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_index_pad" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_rubber_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_thumb_rubber_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_4" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "right_thumb_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_rubber_3" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_thumb_rubber_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_rubber_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_pad" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_pad" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_thumb_pad_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_pad" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_thumb_tip" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_tip" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_thumb_tip_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_thumb_tip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_rubber_2" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_rubber_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_little_rubber_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_rubber_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_pad" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_pad" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_little_pad_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_pad" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "right_little_tip" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_tip" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "right_little_tip_1" ( + prepend references = @./geometries.usd@ + ) + { + over "right_little_tip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "plam" ( + prepend references = @./geometries.usd@ + ) + { + over "plam" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Smooth" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "plam_1" ( + prepend references = @./geometries.usd@ + ) + { + over "plam" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/materials.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..70f887e95ed384319b62dcd35d26bc21c4fcd1cd --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/materials.usda @@ -0,0 +1,185 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Plastic_ABS" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Plastic_ABS.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Plastic_ABS" + color3f inputs:diffuse_tint = (1, 1, 1) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Rubber_Smooth" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Rubber_Smooth.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Rubber_Smooth" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/robot.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..6eed23c55d02e59a1499dfed4911deff98c625da --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/robot.usda @@ -0,0 +1,1295 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "inspire_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog ( + displayName = "Changelog" + ) + string isaac:description ( + displayName = "Description" + ) + token isaac:license ( + displayName = "License" + ) + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + rel isaac:physics:robotJoints ( + displayName = "Robot Joints" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + rel isaac:physics:robotLinks ( + displayName = "Robot Links" + ) + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" ( + displayName = "Robot Type" + ) + string isaac:source ( + displayName = "Source" + ) + string isaac:version ( + displayName = "Version" + ) + + over "Physics" + { + over "right_thumb_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_thumb_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_thumb_3_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_thumb_4_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_thumb_rubber_3_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_thumb_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_thumb_tip_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_thumb_rubber_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_thumb_rubber_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_index_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_index_rubber_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_index_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_index_rubber_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_index_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_index_tip_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_middle_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_middle_rubber_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_middle_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_middle_rubber_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_middle_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_middle_tip_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_ring_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_ring_rubber_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_ring_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_ring_rubber_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_ring_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_ring_tip_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_little_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_little_rubber_1_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_little_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + + over "right_little_rubber_2_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_little_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_little_tip_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "FixedJoint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "palm_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "r_base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "r_base_link" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "r_base_link_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_index_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_middle_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_ring_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_little_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_rubber_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_little_rubber_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_rubber_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_little_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_ring_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_rubber_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_ring_rubber_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_rubber_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_middle_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_rubber_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_middle_rubber_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_rubber_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_index_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_rubber_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_index_rubber_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_rubber_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_rubber_1_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_3_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_rubber_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_index_rubber_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_rubber_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_rubber_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_middle_rubber_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_rubber_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_rubber_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_ring_rubber_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_rubber_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_tip" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_ring_tip" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_tip_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_ring_pad" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_ring_pad" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_ring_pad_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_tip" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_middle_tip" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_tip_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_middle_pad" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_middle_pad" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_middle_pad_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_tip" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_index_tip" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_tip_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_index_pad" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_index_pad" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_index_pad_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_rubber_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_4_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_rubber_3_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_pad" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_thumb_pad" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_pad_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_thumb_tip" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_thumb_tip" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_thumb_tip_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_rubber_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_little_rubber_2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_rubber_2_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_pad" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "right_little_pad" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_pad_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "right_little_tip" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "right_little_tip" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "right_little_tip_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } + + over "palm" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "plam" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + + over "plam_1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description + uniform token isaac:forwardAxis + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/mujoco.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..ed6ff4b2487ec37e5de115680934247507bbff82 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/mujoco.usda @@ -0,0 +1,661 @@ +#usda 1.0 +( + defaultPrim = "inspire_hand" +) + +def "inspire_hand" +{ + over "r_base_link" + { + over "r_base_link_1" + { + over "r_base_link" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "right_thumb_1" + { + over "right_thumb_1_1" + { + over "right_thumb_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_1" + { + over "right_index_1_1" + { + over "right_index_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_1" + { + over "right_middle_1_1" + { + over "right_middle_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_1" + { + over "right_ring_1_1" + { + over "right_ring_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_1" + { + over "right_little_1_1" + { + over "right_little_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_1" + { + over "right_little_rubber_1_1" + { + over "right_little_rubber_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_2" + { + over "right_little_2_1" + { + over "right_little_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_2" + { + over "right_ring_2_1" + { + over "right_ring_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_1" + { + over "right_ring_rubber_1_1" + { + over "right_ring_rubber_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_2" + { + over "right_middle_2_1" + { + over "right_middle_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_1" + { + over "right_middle_rubber_1_1" + { + over "right_middle_rubber_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_2" + { + over "right_index_2_1" + { + over "right_index_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_1" + { + over "right_index_rubber_1_1" + { + over "right_index_rubber_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_2" + { + over "right_thumb_2_1" + { + over "right_thumb_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_1" + { + over "right_thumb_rubber_1_1" + { + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_3" + { + over "right_thumb_3_1" + { + over "right_thumb_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_2" + { + over "right_index_rubber_2_1" + { + over "right_index_rubber_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_2" + { + over "right_middle_rubber_2_1" + { + over "right_middle_rubber_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_2" + { + over "right_ring_rubber_2_1" + { + over "right_ring_rubber_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_tip" + { + over "right_ring_tip_1" + { + over "right_ring_tip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_pad" + { + over "right_ring_pad_1" + { + over "right_ring_pad" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_tip" + { + over "right_middle_tip_1" + { + over "right_middle_tip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_pad" + { + over "right_middle_pad_1" + { + over "right_middle_pad" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_tip" + { + over "right_index_tip_1" + { + over "right_index_tip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_pad" + { + over "right_index_pad_1" + { + over "right_index_pad" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_2" + { + over "right_thumb_rubber_2_1" + { + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_4" + { + over "right_thumb_4_1" + { + over "right_thumb_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_3" + { + over "right_thumb_rubber_3_1" + { + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_pad" + { + over "right_thumb_pad_1" + { + over "right_thumb_pad" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_tip" + { + over "right_thumb_tip_1" + { + over "right_thumb_tip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_2" + { + over "right_little_rubber_2_1" + { + over "right_little_rubber_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_pad" + { + over "right_little_pad_1" + { + over "right_little_pad" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_tip" + { + over "right_little_tip_1" + { + over "right_little_tip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "palm" + { + over "plam_1" + { + over "plam" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Physics" + { + over "right_thumb_1_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_thumb_2_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_thumb_3_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.1425 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_thumb_4_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = -0.1 + float newton:mimicCoef1 = 0.857789 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_index_1_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_index_2_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_middle_1_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_middle_2_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_ring_1_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_ring_2_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_little_1_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_little_2_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_inspire_hand_Physics_right_thumb_1_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -4.010704582991235, -0.005729577806566919] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.409999966621399 + double mjc:forceRange:min = -1.409999966621399 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_inspire_hand_Physics_right_thumb_2_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -4.010704582991235, -0.02864789111724291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.409999966621399 + double mjc:forceRange:min = -1.409999966621399 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_inspire_hand_Physics_right_index_1_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -2.8647890183427984, -0.02864789111724291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.8200000524520874 + double mjc:forceRange:min = -1.8200000524520874 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_inspire_hand_Physics_right_middle_1_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -2.8647890183427984, -0.04010704422908677] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.8799999952316284 + double mjc:forceRange:min = -1.8799999952316284 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_inspire_hand_Physics_right_ring_1_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -3.437746693945311, -0.02864789111724291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.8200000524520874 + double mjc:forceRange:min = -1.8200000524520874 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_inspire_hand_Physics_right_little_1_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -3.437746693945311, -0.017188734670345745] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.6799999475479126 + double mjc:forceRange:min = -1.6799999475479126 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/newton.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..9b92df771416db5fc8744dfb92fc08ea104a6216 --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/newton.usda @@ -0,0 +1,602 @@ +#usda 1.0 +( + defaultPrim = "inspire_hand" +) + +over "inspire_hand" +{ + over "r_base_link" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + + over "r_base_link_1" + { + over "r_base_link" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_1" + { + over "right_thumb_1_1" + { + over "right_thumb_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_1" + { + over "right_index_1_1" + { + over "right_index_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_1" + { + over "right_middle_1_1" + { + over "right_middle_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_1" + { + over "right_ring_1_1" + { + over "right_ring_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_1" + { + over "right_little_1_1" + { + over "right_little_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_1" + { + over "right_little_rubber_1_1" + { + over "right_little_rubber_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_2" + { + over "right_little_2_1" + { + over "right_little_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_2" + { + over "right_ring_2_1" + { + over "right_ring_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_1" + { + over "right_ring_rubber_1_1" + { + over "right_ring_rubber_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_2" + { + over "right_middle_2_1" + { + over "right_middle_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_1" + { + over "right_middle_rubber_1_1" + { + over "right_middle_rubber_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_2" + { + over "right_index_2_1" + { + over "right_index_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_1" + { + over "right_index_rubber_1_1" + { + over "right_index_rubber_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_2" + { + over "right_thumb_2_1" + { + over "right_thumb_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_1" + { + over "right_thumb_rubber_1_1" + { + over "right_thumb_rubber_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_3" + { + over "right_thumb_3_1" + { + over "right_thumb_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_2" + { + over "right_index_rubber_2_1" + { + over "right_index_rubber_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_2" + { + over "right_middle_rubber_2_1" + { + over "right_middle_rubber_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_2" + { + over "right_ring_rubber_2_1" + { + over "right_ring_rubber_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_tip" + { + over "right_ring_tip_1" + { + over "right_ring_tip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_ring_pad" + { + over "right_ring_pad_1" + { + over "right_ring_pad" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_tip" + { + over "right_middle_tip_1" + { + over "right_middle_tip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_middle_pad" + { + over "right_middle_pad_1" + { + over "right_middle_pad" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_tip" + { + over "right_index_tip_1" + { + over "right_index_tip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_index_pad" + { + over "right_index_pad_1" + { + over "right_index_pad" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_2" + { + over "right_thumb_rubber_2_1" + { + over "right_thumb_rubber_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_4" + { + over "right_thumb_4_1" + { + over "right_thumb_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_3" + { + over "right_thumb_rubber_3_1" + { + over "right_thumb_rubber_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_pad" + { + over "right_thumb_pad_1" + { + over "right_thumb_pad" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_tip" + { + over "right_thumb_tip_1" + { + over "right_thumb_tip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_2" + { + over "right_little_rubber_2_1" + { + over "right_little_rubber_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_pad" + { + over "right_little_pad_1" + { + over "right_little_pad" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_little_tip" + { + over "right_little_tip_1" + { + over "right_little_tip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "palm" + { + over "plam_1" + { + over "plam" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Physics" + { + over "right_thumb_1_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 1.05138 + float newton:damping = 0.023364 + float newton:velocityLimit = 107 + } + + over "right_thumb_2_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 1.60713 + float newton:damping = 0.035714 + float newton:velocityLimit = 70 + } + + over "right_thumb_3_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00032 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.1425 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_thumb_4_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00014 + float newton:mimicCoef0 = -0.1 + float newton:mimicCoef1 = 0.857789 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_index_1_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.432675 + float newton:damping = 0.009615 + float newton:velocityLimit = 260 + } + + over "right_index_2_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00022 + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_middle_1_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.432675 + float newton:damping = 0.009615 + float newton:velocityLimit = 260 + } + + over "right_middle_2_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00021 + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_ring_1_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.432675 + float newton:damping = 0.009615 + float newton:velocityLimit = 260 + } + + over "right_ring_2_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00022 + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_little_1_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 2 + float drive:angular:physics:stiffness = 0.432675 + float newton:damping = 0.009615 + float newton:velocityLimit = 260 + } + + over "right_little_2_joint" ( + prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"] + ) + { + float newton:damping = 0.00026 + float newton:mimicCoef0 = 0.15 + float newton:mimicCoef1 = 1.1169 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } +} + diff --git a/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/physx.usda b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..a52e0185c2ba7e715dcde48975798e98e48c6f9f --- /dev/null +++ b/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/physx.usda @@ -0,0 +1,565 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "inspire_hand" + endTimeCode = 0 + kilogramsPerUnit = 1 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "inspire_hand" +{ + over "Physics" + { + over "right_thumb_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 107 + float state:angular:physics:position = 0.0020312648 + float state:angular:physics:velocity = 0 + } + + over "right_thumb_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 70 + float state:angular:physics:position = 0.024421632 + float state:angular:physics:velocity = 0 + } + + over "right_thumb_3_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.1425 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = -0.0058551845 + float state:angular:physics:velocity = 0 + } + + over "right_thumb_4_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -0.857789 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0.1 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0.00060249155 + float state:angular:physics:velocity = 0 + } + + over "right_index_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 260 + float state:angular:physics:position = 0.0040998156 + float state:angular:physics:velocity = 0 + } + + over "right_index_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.1169 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = -0.15 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0.1523337 + float state:angular:physics:velocity = 0 + } + + over "right_middle_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 260 + float state:angular:physics:position = -0.00004728383 + float state:angular:physics:velocity = 0 + } + + over "right_middle_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.1169 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = -0.15 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0.12932995 + float state:angular:physics:velocity = 0 + } + + over "right_ring_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 260 + float state:angular:physics:position = 0.0005266489 + float state:angular:physics:velocity = 0 + } + + over "right_ring_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.1169 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = -0.15 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0.13946456 + float state:angular:physics:velocity = 0 + } + + over "right_little_1_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:maxJointVelocity = 260 + float state:angular:physics:position = 0.0015600597 + float state:angular:physics:velocity = 0 + } + + over "right_little_2_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.1169 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = -0.15 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0.14412639 + float state:angular:physics:velocity = 0 + } + } + + over "r_base_link" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 4 + + over "r_base_link_1" + { + over "r_base_link" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_1" + { + over "right_thumb_1_1" + { + over "right_thumb_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_1" + { + over "right_index_1_1" + { + over "right_index_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_1" + { + over "right_middle_1_1" + { + over "right_middle_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_1" + { + over "right_ring_1_1" + { + over "right_ring_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_1" + { + over "right_little_1_1" + { + over "right_little_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_1" + { + over "right_little_rubber_1_1" + { + over "right_little_rubber_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_2" + { + over "right_little_2_1" + { + over "right_little_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_2" + { + over "right_ring_2_1" + { + over "right_ring_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_1" + { + over "right_ring_rubber_1_1" + { + over "right_ring_rubber_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_2" + { + over "right_middle_2_1" + { + over "right_middle_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_1" + { + over "right_middle_rubber_1_1" + { + over "right_middle_rubber_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_2" + { + over "right_index_2_1" + { + over "right_index_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_1" + { + over "right_index_rubber_1_1" + { + over "right_index_rubber_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_2" + { + over "right_thumb_2_1" + { + over "right_thumb_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_1" + { + over "right_thumb_rubber_1_1" + { + over "right_thumb_rubber_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_3" + { + over "right_thumb_3_1" + { + over "right_thumb_3" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_rubber_2" + { + over "right_index_rubber_2_1" + { + over "right_index_rubber_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_rubber_2" + { + over "right_middle_rubber_2_1" + { + over "right_middle_rubber_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_rubber_2" + { + over "right_ring_rubber_2_1" + { + over "right_ring_rubber_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_tip" + { + over "right_ring_tip_1" + { + over "right_ring_tip" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_ring_pad" + { + over "right_ring_pad_1" + { + over "right_ring_pad" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_tip" + { + over "right_middle_tip_1" + { + over "right_middle_tip" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_middle_pad" + { + over "right_middle_pad_1" + { + over "right_middle_pad" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_tip" + { + over "right_index_tip_1" + { + over "right_index_tip" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_index_pad" + { + over "right_index_pad_1" + { + over "right_index_pad" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_2" + { + over "right_thumb_rubber_2_1" + { + over "right_thumb_rubber_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_4" + { + over "right_thumb_4_1" + { + over "right_thumb_4" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_rubber_3" + { + over "right_thumb_rubber_3_1" + { + over "right_thumb_rubber_3" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_pad" + { + over "right_thumb_pad_1" + { + over "right_thumb_pad" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_thumb_tip" + { + over "right_thumb_tip_1" + { + over "right_thumb_tip" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_rubber_2" + { + over "right_little_rubber_2_1" + { + over "right_little_rubber_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_pad" + { + over "right_little_pad_1" + { + over "right_little_pad" + { + token physics:approximation = "convexHull" + } + } + } + + over "right_little_tip" + { + over "right_little_tip_1" + { + over "right_little_tip" + { + token physics:approximation = "convexHull" + } + } + } + + over "palm" + { + over "plam_1" + { + over "plam" + { + token physics:approximation = "convexHull" + } + } + } +} + diff --git a/psyonic_ability_hand_left_large/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/psyonic_ability_hand_left_large/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8b3eaddb0972efe768dcdb0ddab98fa683b998 --- /dev/null +++ b/psyonic_ability_hand_left_large/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:24", + "assets": [ + { + "asset": 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b/psyonic_ability_hand_left_large/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..00b25bc1ae06393e2421b036599e17192dc5c67c --- /dev/null +++ b/psyonic_ability_hand_left_large/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "ability_hand_left_large.usda" + ] +} diff --git a/psyonic_ability_hand_left_large/.metadata/license.txt b/psyonic_ability_hand_left_large/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/psyonic_ability_hand_left_large/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_benchmark.json b/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..dfbd8e5f7dd1744abbca252141f4061f8e57f2db --- /dev/null +++ b/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_benchmark.json @@ -0,0 +1,25989 @@ +{ + "schema_version": "1.0", + "asset": "psyonic_ability_hand_left_large", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 98.046, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 29.846, + "unit": null + 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tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756006322, + "start": 2.3333609350251194e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation 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0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755839652, + "start": -1.4333647116449022e-11, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.703, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.468, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 32, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 14.62, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.312, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 5, + "unit": null + }, + "dgv_joints_failed": { + "value": 1, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235971826441356, + "start": -1.592954163243121e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235968494263089, + "start": -1.9261719899077434e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523597334745301, + "start": -1.4408529978027218e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972128859713, + "start": -1.562712327540794e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978950963555, + "start": 8.805019433566486e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494221084137, + "start": -4.935348988510668e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 128.844, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_q2", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "direction": "-XZ", + "world_com": [ + 0.07776742139151499, + -0.0012593824035638228, + 0.056288245045210517 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.201, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 141.68, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 7.282, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/middle_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_002.json", + "csv": "motion_history/eff_joint_002.csv" + }, + "unit": null + }, + "motion_history_eff_joint_003": { + "value": { + "schema_version": 1, + "name": "eff_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/pinky_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_003.json", + "csv": "motion_history/eff_joint_003.csv" + }, + "unit": null + }, + "motion_history_eff_joint_004": { + "value": { + "schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/ring_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/thumb_L1", + "runtime_lower": -1.7399998903274536, + "runtime_upper": 0.0, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_005.json", + "csv": "motion_history/eff_joint_005.csv" + }, + "unit": null + }, + "motion_history_eff_joint_006": { + "value": { + "schema_version": 1, + "name": "eff_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 50.594, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 11.015, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 152.99, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.094, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/middle_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation 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"motion_history_frs_joint_006": { + "value": { + "schema_version": 1, + "name": "frs_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 59.109, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 26.491666666666667, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 6358, + "planned_nominal_ticks_estimate": 9168, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": 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"wall_seconds": 1.2800000006100163, + "attempts": 5400 + }, + "optional_motion": { + "wall_seconds": 4.880000000237487, + "attempts": 6172 + }, + "commands": { + "wall_seconds": 20.533000000403263, + "attempts": 6118 + }, + "encoding": { + "wall_seconds": 1.687999999965541, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 10, + "unit": null + }, + "frs_joints_tested": { + "value": 6, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0020892703167620487, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + 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"source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 310, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 53.344, + "message": "", + "metrics": { + "mjc_total_joints": { + "value": 10, + "unit": null + }, + "mjc_valid_joints": { + "value": 6, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + 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}, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_008.json", + "csv": "motion_history/mjc_joint_008.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 42.266, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 12.421, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1552.63, + "unit": null + }, + 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"estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 61, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 61, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 171.75, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 7.91, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 131.83, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.875, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 2.7554176687388905, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 16.266, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.156, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 192.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.625, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.156, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.016, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 131.13, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.953, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_validation.json b/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..2afd9e5291487ecaba6ae62f90f52e23566e97e0 --- /dev/null +++ b/psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_left_large.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_left_large/.thumbs/256x256/ability_hand_left_large.usda.png b/psyonic_ability_hand_left_large/.thumbs/256x256/ability_hand_left_large.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..67b6dc73513c1842085d565514bfe919fd923a41 --- /dev/null +++ b/psyonic_ability_hand_left_large/.thumbs/256x256/ability_hand_left_large.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88a8669f6754074ce1f9f732190019c15b07193752aa93699ea08dfa491beecf +size 41948 diff --git a/psyonic_ability_hand_left_large/ability_hand_left_large.usda b/psyonic_ability_hand_left_large/ability_hand_left_large.usda new file mode 100644 index 0000000000000000000000000000000000000000..e27ec02aa289a4ef5f2da27cbf060abf6164f215 --- /dev/null +++ b/psyonic_ability_hand_left_large/ability_hand_left_large.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16392432, 0.06736901, 0.18918973) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_left_large" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_left_large/ability_hand_left_large.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_7" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_9" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_11" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_left_large/com.nvidia.simready.packaging.json b/psyonic_ability_hand_left_large/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..75b509bdaefa61213a88899608c16b05a4b4ec49 --- /dev/null +++ b/psyonic_ability_hand_left_large/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_left_large.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "7d181936c21a4c3f5c736f91510acc52018b8dff614e520816cc7c5678f88476" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "e520053bf9ddc5ca79ee4f354f81fdd0891b2cc6459b9e6b8be24fe53f932aa1" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "4c72324b705901475d9ab6c15de329d796604bac9d8a211f48d8cabe2d394f9b" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_left_large_benchmark.json", + "hash": { + "sha256": "4f78efedad330c25beae343d0372fd80ee8007bce8cd378a905fcc206db4afe4" + } + }, + { + "name": "psyonic_ability_hand_left_large_validation.json", + "hash": { + "sha256": "69500b07d3f283814456d01c5d6cb943f24e420518433b1967ffcf49e591ede0" + } + } + ], + "content_hash": { + "sha256": "eb7f7e7b33f0c8e54affd8af9139541292eaf10d9b4c38314759786b106c88ff" + }, + "package_hash": { + "sha256": "b2626f58625a18bb8c9d2a18d02d6eaf946c63c116b03628511ad211e5aedeeb" + } +} diff --git a/psyonic_ability_hand_left_large/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_left_large/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_left_large/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_left_large/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_left_large/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_left_large/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_left_large/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_left_large/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_left_large/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_left_large/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_left_large/materials/mdl/license.txt b/psyonic_ability_hand_left_large/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_left_large/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_left_large/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_left_large/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_left_large/payloads/Physics/mujoco.usda b/psyonic_ability_hand_left_large/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..881a8735d2a3c45f337b9d8452011419dec060f4 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_7" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_9" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_11" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/Physics/none.usda b/psyonic_ability_hand_left_large/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_large/payloads/Physics/physics.usda b/psyonic_ability_hand_left_large/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..b2f03be4c05834aa1d7f8875c69406c121124772 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Physics/physics.usda @@ -0,0 +1,584 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, 0.015764227, -0.005237158) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002865377 + point3f physics:localPos0 = (0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.71444005, 0.12970963, -0.68596137, -0.046989918) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00002857049 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002822639 + point3f physics:localPos0 = (0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.698369, 0.10381803, -0.704545, -0.07154536) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028517621 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00026331627 + point3f physics:localPos0 = (-0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6818197, 0.054232925, -0.71919346, -0.12223545) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025605304 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002742848 + point3f physics:localPos0 = (-0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6811508, 0.077053666, -0.7213432, -0.09879416) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028428694 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047605322 + point3f physics:localPos0 = (0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.0041431705, -0.99462867, 0.09358209, -0.04403519) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00030996377 + point3f physics:localPos0 = (0.02782835, 0, -0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.6087614, 0.7933533, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01433502, -0.00188501, -0.00504062) + float3 physics:diagonalInertia = (7.7406966e-8, 2.5281835e-7, 2.4009242e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9633432, 0.07544954, 0.24333853, -0.08404616) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_9" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, -0.00410855) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.000025859888) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.035993543, 0.00529308, 0.20808078) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_11" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 2 + float physics:restitution = 0 + float physics:staticFriction = 2 + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/Physics/physx.usda b/psyonic_ability_hand_left_large/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..0336de9b5f2b5883b958dbbe0a41949c842191d2 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Physics/physx.usda @@ -0,0 +1,123 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/Robot/none.usda b/psyonic_ability_hand_left_large/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_large/payloads/Robot/robot.usda b/psyonic_ability_hand_left_large/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/Sensor/none.usda b/psyonic_ability_hand_left_large/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_large/payloads/Sensor/sensors.usda b/psyonic_ability_hand_left_large/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_large/payloads/base.usda b/psyonic_ability_hand_left_large/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..2aece983facaed859984507d279ad38d9cabcf2f --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0.01, 0.028, 0.09) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, -0.017678, 0.017678), (0, 0.017678, -0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.7144400477409363, 0.1297096312046051, -0.6859613656997681, -0.04698991775512695) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.6802375912666321, -0.13603518903255463, -0.6847350001335144, 0.22340428829193115) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029735717922449112, -0.015295763500034809, 0.13405409455299377) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.698369026184082, 0.10381802916526794, -0.7045450210571289, -0.07154536247253418) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6745074391365051, -0.16699565947055817, -0.6922964453697205, 0.19462212920188904) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.007733365520834923, -0.018318597227334976, 0.13708893954753876) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.6818196773529053, 0.05423292517662048, -0.7191934585571289, -0.12223544716835022) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6781002283096313, -0.21846242249011993, -0.6873533725738525, 0.14142006635665894) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.033187273889780045, -0.013272823765873909, 0.1290345937013626) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.6811507940292358, 0.07705366611480713, -0.7213432192802429, -0.09879416227340698) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6687197089195251, -0.19809848070144653, -0.6978755593299866, 0.1629130244255066) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.014239470474421978, -0.01629931852221489, 0.1350271850824356) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.0041431705467402935, -0.9946286678314209, 0.09358209371566772, -0.04403518885374069) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087597012519836, -0.7933546304702759, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02782999910414219, 0, -0.014750000089406967) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.7865697145462036, 0.6087785959243774, -0.09190463274717331, -0.04743674024939537) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04997711628675461, -0.0014094016514718533, 0.04943874478340149) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.008740000426769257) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, -0.0010600000387057662) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.004910000134259462) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.008790000341832638) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.004939999897032976) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (0.7603513598442078, -0.6109510064125061, 0.2003689706325531, -0.09196126461029053) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, -0.0019199999514967203) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869755446911, -0.0008848357829265296) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0000012489052778619225, 0.9852589964866638, 0.1710694283246994, 2.1684604689653497e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06519000232219696, 0.023339999839663506, -0.003930000122636557) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/geometries.usd b/psyonic_ability_hand_left_large/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..19995941a2163f69d5f07f7b810926bbdc903878 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ad926cc59ed1eacef7ec7ddea34050cb62f022079693752872fc27fe29a6ffb +size 4167367 diff --git a/psyonic_ability_hand_left_large/payloads/instances.usda b/psyonic_ability_hand_left_large/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..cb690ecc460313e58f7088d1abea930561168674 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/instances.usda @@ -0,0 +1,509 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_11" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_11" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/materials.usda b/psyonic_ability_hand_left_large/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..f36f7ff5ab76d728b2be025567087772452efbe6 --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/materials.usda @@ -0,0 +1,173 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_left_large/payloads/robot.usda b/psyonic_ability_hand_left_large/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..1dc5b6db6fbd4b84270d355b37b4a91e6310145f --- /dev/null +++ b/psyonic_ability_hand_left_large/payloads/robot.usda @@ -0,0 +1,539 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_left_large/runnables/physics/mujoco.usda b/psyonic_ability_hand_left_large/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..8d4302624b54c15184ceba0b2d246e13570725ce --- /dev/null +++ b/psyonic_ability_hand_left_large/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_11" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.260875369346973, -0.004104350051689254] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.107831320614498, -0.0040431326469736965] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.429318620918139, -0.0037717276764849014] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.822100601970769, -0.003928840370188376] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -17.047399139995832, -0.006818960045532559] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -11.099760056981586, -0.004439903938749291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_left_large/runnables/physics/newton.usda b/psyonic_ability_hand_left_large/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..44931f55b8e2059b1fe0d7192a9c48895bf03cec --- /dev/null +++ b/psyonic_ability_hand_left_large/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_11" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_left_large/runnables/physics/physx.usda b/psyonic_ability_hand_left_large/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..4bc10e1732a44a7f0d39f4f840b965944c635431 --- /dev/null +++ b/psyonic_ability_hand_left_large/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = -0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_7" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_9" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_11" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_benchmark.json b/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..04fe8ecafc18a7f56f64eee37624e55bcd217284 --- /dev/null +++ b/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_benchmark.json @@ -0,0 +1,25989 @@ +{ + "schema_version": "1.0", + "asset": "psyonic_ability_hand_left_small", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 91.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 31.328, + "unit": null + 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"dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972128859713, + "start": -1.562712327540794e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978950963555, + "start": 8.805019433566486e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494221084137, + "start": -4.935348988510668e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 63.328, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_q2", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "direction": "-XZ", + "world_com": [ + 0.07776742139151499, + -0.0012593824035638228, + 0.056288245045210517 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.735, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 79.65, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.125, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": 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"break_tolerance": 0.1, + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_002.json", + "csv": "motion_history/eff_joint_002.csv" + }, + "unit": null + }, + "motion_history_eff_joint_003": { + "value": { + "schema_version": 1, + "name": "eff_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force 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"schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/ring_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } 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"damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_005.json", + "csv": "motion_history/eff_joint_005.csv" + }, + "unit": null + }, + "motion_history_eff_joint_006": { + "value": { + "schema_version": 1, + "name": "eff_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities 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}, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.437, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 144.96, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.125, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/middle_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_002.json", + "csv": "motion_history/eff_joint_002.csv" + }, + "unit": null + }, + "motion_history_eff_joint_003": { + "value": { + "schema_version": 1, + "name": "eff_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/pinky_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_003.json", + "csv": "motion_history/eff_joint_003.csv" + }, + "unit": null + }, + "motion_history_eff_joint_004": { + "value": { + "schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/ring_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/thumb_L1", + "runtime_lower": -1.7399998903274536, + "runtime_upper": 0.0, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_005.json", + "csv": "motion_history/eff_joint_005.csv" + }, + "unit": null + }, + "motion_history_eff_joint_006": { + "value": { + "schema_version": 1, + "name": "eff_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 110.547, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 26.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 6288, + "planned_nominal_ticks_estimate": 6288, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 110.45299999997951, + "setup_elapsed_wall_seconds": 1.125, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3249.5470000000205, + "observed_service_seconds_per_nominal_tick": 0.017386768447833892, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 93.71899999910966, + "attempts": 6288 + }, + "captures": { + "wall_seconds": 7.781000000308268, + "attempts": 48 + }, + "bounds": { + "wall_seconds": 2.309000000706874, + "attempts": 271 + }, + "camera": { + "wall_seconds": 0.5629999994998798, + "attempts": 5400 + }, + "optional_motion": { + "wall_seconds": 0.9080000000540167, + "attempts": 6102 + }, + "commands": { + "wall_seconds": 1.3870000002207235, + "attempts": 6048 + }, + "encoding": { + "wall_seconds": 1.609000000054948, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 10, + "unit": null + }, + "frs_joints_tested": { + "value": 6, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + 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"clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, 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"runtime_upper": 0.0, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 40.338890075683594, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 260, + "json": "motion_history/frs_joint_005.json", + "csv": "motion_history/frs_joint_005.csv" + }, + "unit": null + }, + "motion_history_frs_joint_006": { + "value": { + "schema_version": 1, + "name": "frs_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 94.188, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.06499999761581421, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.4000000059604645, + "unit": 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"unit": null + }, + "motion_history_gripper_cube": { + "value": { + "schema_version": 1, + "name": "gripper_cube", + "channels": { + "object_x": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_y": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_z": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "carrier_x": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_y": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 498, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_000", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 0, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_000.json", + "csv": "motion_history/gripper_probe_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_002": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_002", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 2, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_002.json", + "csv": "motion_history/gripper_probe_joint_002.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_003": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_003", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 3, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_003.json", + "csv": "motion_history/gripper_probe_joint_003.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_004": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_004", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 4, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_004.json", + "csv": "motion_history/gripper_probe_joint_004.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_009": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_009", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 9, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_009.json", + "csv": "motion_history/gripper_probe_joint_009.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_001.json", + "csv": "motion_history/gripper_cube_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_002": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_002.json", + "csv": "motion_history/gripper_cube_joint_002.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_003": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_003.json", + "csv": "motion_history/gripper_cube_joint_003.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_004": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_004.json", + "csv": "motion_history/gripper_cube_joint_004.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_005": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_cube_joint_005.json", + "csv": "motion_history/gripper_cube_joint_005.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_002": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_003": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_004": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/index_L2", + "/World/AssetRoot/Asset/middle_L2", + "/World/AssetRoot/Asset/pinky_L2", + "/World/AssetRoot/Asset/ring_L2", + "/World/AssetRoot/Asset/thumb_L2" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_cube_contacts.json", + "csv": "motion_history/gripper_cube_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": 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"close_joint_actual_sphere_ring_q1": { + "value": 1.1553537845611572, + "unit": null + }, + "close_joint_actual_sphere_thumb_q1": { + "value": -1.6553815603256226, + "unit": null + }, + "close_joint_actual_sphere_thumb_q2": { + "value": 1.6566623449325562, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.8593995194769151, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 0.08319845098559883, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.004999999627470969, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 5.1898881793022156e-05, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.019428194981938093, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.19367848336696625, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 0.007464483380317688, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.21369528770446777, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.022749999538064003, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.19094528816640377, + "unit": null + }, + "drop_passed_sphere": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "sphere", + "unit": null + }, + "motion_history_gripper_sphere": { + "value": { + "schema_version": 1, + "name": "gripper_sphere", + "channels": { + "object_x": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_y": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_z": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "carrier_x": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_y": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 463, + "json": "motion_history/gripper_sphere.json", + "csv": "motion_history/gripper_sphere.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_000", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 0, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_000.json", + "csv": "motion_history/gripper_probe_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_002": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_002", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 2, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_002.json", + "csv": "motion_history/gripper_probe_joint_002.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_003": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_003", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 3, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_003.json", + "csv": "motion_history/gripper_probe_joint_003.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_004": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_004", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 4, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_004.json", + "csv": "motion_history/gripper_probe_joint_004.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_009": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_009", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 9, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_009.json", + "csv": "motion_history/gripper_probe_joint_009.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_000.json", + "csv": "motion_history/gripper_sphere_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_001.json", + "csv": "motion_history/gripper_sphere_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_002": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_002.json", + "csv": "motion_history/gripper_sphere_joint_002.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_003": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_003.json", + "csv": "motion_history/gripper_sphere_joint_003.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_004": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_004.json", + "csv": "motion_history/gripper_sphere_joint_004.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_005": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_005.json", + "csv": "motion_history/gripper_sphere_joint_005.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_002": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_003": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_004": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/index_L2", + "/World/AssetRoot/Asset/middle_L2", + "/World/AssetRoot/Asset/pinky_L2", + "/World/AssetRoot/Asset/ring_L2", + "/World/AssetRoot/Asset/thumb_L2" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 76, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 388.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.722, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 638.27, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.453, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_index_q1_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_index_q1_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_index_q1_bbox_m": { + "value": 0.0692, + "unit": null + }, + "jm_joint_index_q1_translation_stage_units": { + "value": 4.925455086744335e-08, + "unit": null + }, + "jm_joint_index_q1_bbox_diagonal_stage_units": { + "value": 0.06917167372239064, + "unit": null + }, + "jm_joint_index_q1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_q1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_index_q1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_index_q1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_q1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_index_q1_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_index_q1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_index_q2_rot_deg": { + "value": 126.634, + "unit": null + }, + "jm_joint_index_q2_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_index_q2_bbox_m": { + "value": 0.0719, + "unit": null + }, + "jm_joint_index_q2_translation_stage_units": { + "value": 3.411947975441007e-08, + "unit": null + }, + "jm_joint_index_q2_bbox_diagonal_stage_units": { + "value": 0.07187168488016978, + "unit": null + }, + "jm_joint_index_q2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_q2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_index_q2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_index_q2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_q2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_index_q2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_index_q2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_middle_q1_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_middle_q1_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_middle_q1_bbox_m": { + "value": 0.0673, + "unit": null + }, + "jm_joint_middle_q1_translation_stage_units": { + "value": 3.343694484050617e-08, + "unit": null + }, + "jm_joint_middle_q1_bbox_diagonal_stage_units": { + "value": 0.0673206990691766, + "unit": null + }, + "jm_joint_middle_q1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_middle_q1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_middle_q1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_middle_q1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + 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+ "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_middle_q2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_middle_q2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_middle_q2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_middle_q2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_pinky_q1_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_pinky_q1_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_pinky_q1_bbox_m": { + "value": 0.0692, + "unit": null + }, + "jm_joint_pinky_q1_translation_stage_units": { + "value": 4.111554483816794e-08, + "unit": null + }, + "jm_joint_pinky_q1_bbox_diagonal_stage_units": { + "value": 0.06918734065642614, + "unit": null + }, + "jm_joint_pinky_q1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_pinky_q1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_pinky_q1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_pinky_q1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_pinky_q1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_pinky_q1_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_pinky_q1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_pinky_q2_rot_deg": { + "value": 126.634, + "unit": null + }, + "jm_joint_pinky_q2_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_pinky_q2_bbox_m": { + "value": 0.0716, + "unit": null + }, + "jm_joint_pinky_q2_translation_stage_units": { + "value": 4.587310101334781e-08, + "unit": null + }, + "jm_joint_pinky_q2_bbox_diagonal_stage_units": { + "value": 0.07159941751176221, + "unit": null + }, + "jm_joint_pinky_q2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_pinky_q2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_pinky_q2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_pinky_q2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_pinky_q2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_pinky_q2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_pinky_q2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_ring_q1_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_ring_q1_trans_pct": { + "value": 0.0, + "unit": null + }, + 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}, + "jm_joint_ring_q2_rot_deg": { + "value": 126.634, + "unit": null + }, + "jm_joint_ring_q2_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_ring_q2_bbox_m": { + "value": 0.0711, + "unit": null + }, + "jm_joint_ring_q2_translation_stage_units": { + "value": 3.985216274862282e-08, + "unit": null + }, + "jm_joint_ring_q2_bbox_diagonal_stage_units": { + "value": 0.07106104578431897, + "unit": null + }, + "jm_joint_ring_q2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_ring_q2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_ring_q2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_ring_q2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_ring_q2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_ring_q2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_ring_q2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_thumb_q1_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_thumb_q1_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_thumb_q1_bbox_m": { + "value": 0.0595, + "unit": null + }, + "jm_joint_thumb_q1_translation_stage_units": { + "value": 2.567584723002945e-08, + "unit": null + }, + "jm_joint_thumb_q1_bbox_diagonal_stage_units": { + "value": 0.05945695409553472, + "unit": null + }, + "jm_joint_thumb_q1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_thumb_q1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_thumb_q1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_thumb_q1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_thumb_q1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_thumb_q1_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_thumb_q1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_thumb_q2_rot_deg": { + "value": 99.695, + "unit": null + }, + "jm_joint_thumb_q2_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_thumb_q2_bbox_m": { + "value": 0.1116, + "unit": null + }, + "jm_joint_thumb_q2_translation_stage_units": { + "value": 2.7234513978752174e-08, + "unit": null + }, + "jm_joint_thumb_q2_bbox_diagonal_stage_units": { + "value": 0.11155792983493089, + "unit": null + }, + "jm_joint_thumb_q2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_thumb_q2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_thumb_q2_translation_evidence_basis": { + "value": 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transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 98.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 51.254, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1708.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.39, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.919365, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.038919, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 98.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 51.254, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1708.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.39, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.919365, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.038919, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 56.75, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.203, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2040.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 51456, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 56.75, + 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by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "index_q1", + "follower_joint_name": "index_q2", + "gearing": -1.0585132837295532, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + 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normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "index_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + 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"meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.843, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 10, + "unit": null + }, + "mjc_valid_joints": { + "value": 6, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "mjc_timing_iterations": { + "value": [ + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { 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ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 38.328, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.219, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1027.38, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 2e-06, + "unit": null + }, + "normals_xz_max_dark": { + "value": 2e-05, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 38.328, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.219, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1027.38, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 2e-06, + "unit": null + }, + "normals_xz_max_dark": { + "value": 2e-05, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 51.625, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1800.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 1, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + 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0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 51517, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 124.797, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.311, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1315.55, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.954, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.1, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 124.797, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.311, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1315.55, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.954, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.1, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.89, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1445.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.229614, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.89, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1445.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.229614, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.781, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.079, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1415.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 50462, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.781, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.079, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1415.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 50462, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.453, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.939, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 48.98, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.828, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.017202215622818085, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": 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"position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 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+ "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 7.641, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 127.35, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.437, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 2.7554176687388905, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": 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"rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.328, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.906, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 151.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.516, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.64, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 132.48, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.312, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_validation.json b/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..d888ca2709ff638e1b96794abac7aa66d2ae07b2 --- /dev/null +++ b/psyonic_ability_hand_left_small/.metadata/psyonic_ability_hand_left_small_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_left_small.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_left_small/.thumbs/256x256/ability_hand_left_small.usda.png b/psyonic_ability_hand_left_small/.thumbs/256x256/ability_hand_left_small.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..4e51450656ca92fef755fba8f7b4bf3ee39cd374 --- /dev/null +++ b/psyonic_ability_hand_left_small/.thumbs/256x256/ability_hand_left_small.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e49f312293f9b3236a393e93a4055e8443915d4fdb38d2d6b06fc33af5689259 +size 42744 diff --git a/psyonic_ability_hand_left_small/ability_hand_left_small.usda b/psyonic_ability_hand_left_small/ability_hand_left_small.usda new file mode 100644 index 0000000000000000000000000000000000000000..c506ee0b04c87c2370c923d4e8b7332003fc832c --- /dev/null +++ b/psyonic_ability_hand_left_small/ability_hand_left_small.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16392432, 0.06493249, 0.183301) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_left_small" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_left_small/ability_hand_left_small.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_8" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_10" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_left_small/com.nvidia.simready.packaging.json b/psyonic_ability_hand_left_small/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..517ee93cdc2af9d331953f91f77ecd58c813d7f6 --- /dev/null +++ b/psyonic_ability_hand_left_small/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_left_small.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "d4efeeceabe9d6eee93a849bf598e03974f113905cff77aa3a4c355c1c6f8ec1" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "1d9c3640039410959351017eb2c2d7bd7fde4b70fc664cd82d9800bc9b54a834" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "9f17c0187e4a9e492fe4bf9a5143d8eedc9521d1defbcfc111b1f57c212d48ad" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_left_small_benchmark.json", + "hash": { + "sha256": "8ce72f2af0800c393359cdb758086f783a43bad92038899e2353973d378c61d3" + } + }, + { + "name": "psyonic_ability_hand_left_small_validation.json", + "hash": { + "sha256": "7da575c89a0e2bf1037ee2899a859605db3680a011f29f8c9a8884a4357b9657" + } + } + ], + "content_hash": { + "sha256": "bbf54516478f2dada55befed5f6735f6ff7ba1eaac4aeef9daa1662b0cc9972e" + }, + "package_hash": { + "sha256": "2a64c601479bcdccd1eabc68495e9611983ca97292855003053fd96e239199a7" + } +} diff --git a/psyonic_ability_hand_left_small/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_left_small/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_left_small/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_left_small/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_left_small/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_left_small/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_left_small/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_left_small/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_left_small/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_left_small/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_left_small/materials/mdl/license.txt b/psyonic_ability_hand_left_small/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_left_small/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_left_small/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_left_small/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_left_small/payloads/Physics/mujoco.usda b/psyonic_ability_hand_left_small/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..ac3578673b26a4c65dab442514c9338c0f2ae85d --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_8" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_10" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/Physics/none.usda b/psyonic_ability_hand_left_small/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/Physics/physics.usda b/psyonic_ability_hand_left_small/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..bad9bffe238d2d046b6f3cfdcff4dcdfc8c8d135 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Physics/physics.usda @@ -0,0 +1,584 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, 0.015764227, -0.005237158) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002865377 + point3f physics:localPos0 = (0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.71444005, 0.12970963, -0.68596137, -0.046989918) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00002857049 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002822639 + point3f physics:localPos0 = (0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.698369, 0.10381803, -0.704545, -0.07154536) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028517621 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00026331627 + point3f physics:localPos0 = (-0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6818197, 0.054232925, -0.71919346, -0.12223545) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025605304 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002742848 + point3f physics:localPos0 = (-0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6811508, 0.077053666, -0.7213432, -0.09879416) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028428694 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047605322 + point3f physics:localPos0 = (0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.0041431705, -0.99462867, 0.09358209, -0.04403519) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00030996377 + point3f physics:localPos0 = (0.02782835, 0, -0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.6087614, 0.7933533, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01433502, -0.00188501, -0.00504062) + float3 physics:diagonalInertia = (7.7406966e-8, 2.5281835e-7, 2.4009242e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9633432, 0.07544954, 0.24333853, -0.08404616) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, -0.00410855) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.000025859888) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.035993543, 0.00529308, 0.20808078) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/Physics/physx.usda b/psyonic_ability_hand_left_small/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..adb4dfa6db5861d78511b7d545c6d1095dfcaee8 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Physics/physx.usda @@ -0,0 +1,130 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "PhysicsMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/Robot/none.usda b/psyonic_ability_hand_left_small/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/Robot/robot.usda b/psyonic_ability_hand_left_small/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/Sensor/none.usda b/psyonic_ability_hand_left_small/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda b/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_left_small/payloads/base.usda b/psyonic_ability_hand_left_small/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..897e0bf2c71722556902532b1792fd6073d6ebda --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0.01, 0.026, 0.088) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, -0.017678, 0.017678), (0, 0.017678, -0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.7144400477409363, 0.1297096312046051, -0.6859613656997681, -0.04698991775512695) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.6802375912666321, -0.13603518903255463, -0.6847350001335144, 0.22340428829193115) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029735717922449112, -0.015295763500034809, 0.13405409455299377) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.698369026184082, 0.10381802916526794, -0.7045450210571289, -0.07154536247253418) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6745074391365051, -0.16699565947055817, -0.6922964453697205, 0.19462212920188904) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.007733365520834923, -0.018318597227334976, 0.13708893954753876) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.6818196773529053, 0.05423292517662048, -0.7191934585571289, -0.12223544716835022) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6781002283096313, -0.21846242249011993, -0.6873533725738525, 0.14142006635665894) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.033187273889780045, -0.013272823765873909, 0.1290345937013626) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.6811507940292358, 0.07705366611480713, -0.7213432192802429, -0.09879416227340698) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6687197089195251, -0.19809848070144653, -0.6978755593299866, 0.1629130244255066) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.014239470474421978, -0.01629931852221489, 0.1350271850824356) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.0041431705467402935, -0.9946286678314209, 0.09358209371566772, -0.04403518885374069) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087597012519836, -0.7933546304702759, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02782999910414219, 0, -0.014750000089406967) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.7865697145462036, 0.6087785959243774, -0.09190463274717331, -0.04743674024939537) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04997711628675461, -0.0014094016514718533, 0.04943874478340149) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.008740000426769257) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, -0.0010600000387057662) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.004910000134259462) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.008790000341832638) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.004939999897032976) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, -0.0019199999514967203) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869755446911, -0.0008848357829265296) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0000012489052778619225, 0.9852589964866638, 0.1710694283246994, 2.1684604689653497e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06519000232219696, 0.023339999839663506, -0.003930000122636557) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/geometries.usd b/psyonic_ability_hand_left_small/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..0d3562428bd0eb3781a85962b26b1fba1ed13bf7 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367770f2f19f6667592f5102b5e849da1838d85b8a82faefbcff7a49858d4d3f +size 4141473 diff --git a/psyonic_ability_hand_left_small/payloads/instances.usda b/psyonic_ability_hand_left_small/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..37d5db1b6850d7563d8b68dd1ecdfe72c006a17f --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/instances.usda @@ -0,0 +1,467 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/materials.usda b/psyonic_ability_hand_left_small/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..f36f7ff5ab76d728b2be025567087772452efbe6 --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/materials.usda @@ -0,0 +1,173 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_left_small/payloads/robot.usda b/psyonic_ability_hand_left_small/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..68e1490822a83c67ad083cd9594bd947cc594dbf --- /dev/null +++ b/psyonic_ability_hand_left_small/payloads/robot.usda @@ -0,0 +1,548 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda b/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..4202123dfd8782fa56f3703e8c9ec3c4a79f7a31 --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.260875369346973, -0.004104350051689254] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.107831320614498, -0.0040431326469736965] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.429318620918139, -0.0037717276764849014] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.822100601970769, -0.003928840370188376] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -17.047399139995832, -0.006818960045532559] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [6.373630412484431, -11.099760056981586, -0.004439903938749291] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/newton.usda b/psyonic_ability_hand_left_small/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..61402c64197a661d97e29aaa4dd37529880d6515 --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_left_small/runnables/physics/physx.usda b/psyonic_ability_hand_left_small/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..439ae028961d2497effd1931bf7525bf894a8f0f --- /dev/null +++ b/psyonic_ability_hand_left_small/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_benchmark.json b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc187ae03f829f372417ea8ff78c057f9927e20 --- /dev/null +++ b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_benchmark.json @@ -0,0 +1,25811 @@ +{ + "schema_version": "1.0", + "asset": "psyonic_ability_hand_right_large", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.375, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.377, + "unit": 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0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972078589667, + "start": -1.5677393321311683e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978134897833, + "start": 9.621085155231413e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494387776326, + "start": -4.933682066621259e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 66.969, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_q2", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "direction": "-XZ", + "world_com": [ + -0.0776851579687189, + -0.001711773837869416, + 0.05637122117760316 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.281, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 73.35, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.296, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": 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"schema_version": 1, + "name": "eff_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/ring_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_004.json", + "csv": "motion_history/eff_joint_004.csv" + }, + "unit": null + }, + "motion_history_eff_joint_005": { + "value": { + "schema_version": 1, + "name": "eff_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } 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common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "authored_joint_name": "pinky_q1", + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "child_body_path": "/World/AssetRoot/Asset/pinky_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "pinky_q2", + "authored_joint_name": "pinky_q2", + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q2", + "child_body_path": "/World/AssetRoot/Asset/pinky_L2", + "parent_body_path": "/World/AssetRoot/Asset/pinky_L1", + "reference_frame": "/World/AssetRoot/Asset/pinky_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + }, + "motion_history_joint_movement_006": { + "value": { + "schema_version": 1, + "name": "joint_movement_006", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_q1", + "authored_joint_name": "ring_q1", + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "child_body_path": "/World/AssetRoot/Asset/ring_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_006.json", + "csv": "motion_history/joint_movement_006.csv" + }, + "unit": null + }, + "motion_history_joint_movement_007": { + "value": { + "schema_version": 1, + "name": "joint_movement_007", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_q2", + "authored_joint_name": "ring_q2", + "prim_path": "/World/AssetRoot/Asset/joints/ring_q2", + "child_body_path": "/World/AssetRoot/Asset/ring_L2", + "parent_body_path": "/World/AssetRoot/Asset/ring_L1", + "reference_frame": "/World/AssetRoot/Asset/ring_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_007.json", + "csv": "motion_history/joint_movement_007.csv" + }, + "unit": null + }, + "motion_history_joint_movement_008": { + "value": { + "schema_version": 1, + "name": "joint_movement_008", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "authored_joint_name": "thumb_q1", + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "child_body_path": "/World/AssetRoot/Asset/thumb_L1", + "parent_body_path": "/World/AssetRoot/Asset/base", + "reference_frame": "/World/AssetRoot/Asset/base", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_008.json", + "csv": "motion_history/joint_movement_008.csv" + }, + "unit": null + }, + "motion_history_joint_movement_009": { + "value": { + "schema_version": 1, + "name": "joint_movement_009", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "authored_joint_name": "thumb_q2", + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "child_body_path": "/World/AssetRoot/Asset/thumb_L2", + "parent_body_path": "/World/AssetRoot/Asset/thumb_L1", + "reference_frame": "/World/AssetRoot/Asset/thumb_L1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 932.77, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.9186, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.040048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 27.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 932.77, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.9186, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.040048, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 65.656, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2387.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 56482, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 65.656, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2387.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + 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"message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.516, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 10, + "unit": null + }, + "mjc_valid_joints": { + "value": 6, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "mjc_timing_iterations": { + "value": [ + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { + "name": "index_q1", + "index": 0, + "displacement": 0.5915999627124372, + "velocity_hint": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.44369997203432787, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.001846182175304871 + }, + { + "name": "middle_q1", + "index": 1, + "displacement": 0.5915999627111983, + "velocity_hint": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.4436999720333987, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0018461821753010049 + }, + { + "name": "pinky_q1", + "index": 2, + "displacement": 0.5915999627126589, + "velocity_hint": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.4436999720344942, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.001846182175305563 + }, + { + "name": "ring_q1", + "index": 3, + "displacement": 0.5915999627110617, + "velocity_hint": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "estimated_command_peak_speed": 0.4436999720332963, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0018461821753005788 + }, + { + "name": "thumb_q1", + "index": 4, + "displacement": 1.1483999276159151, + "velocity_hint": 40.338888248256985, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + 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measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_004.json", + "csv": "motion_history/mjc_joint_004.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_006": { + "value": { + "schema_version": 1, + "name": "mjc_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_006.json", + "csv": "motion_history/mjc_joint_006.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_008": { + "value": { + "schema_version": 1, + "name": "mjc_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_008.json", + "csv": "motion_history/mjc_joint_008.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 315, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.593, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 771.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.953, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.0, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.0, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.593, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 771.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.953, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.0, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.0, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 42.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1540.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 1, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 56484, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 42.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1540.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 1, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + 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55.766, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 12.328, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 616.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.359, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { 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"source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.375, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 166.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.531, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.234, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.719, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 23, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 31.26, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.922, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2a3ea9f379207979d5538ceab37be10982ce5e --- /dev/null +++ b/psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_right_large.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png b/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..a6fc99e1e740db9cc8ccdec32a49f6e91d00000d --- /dev/null +++ b/psyonic_ability_hand_right_large/.thumbs/256x256/ability_hand_right_large.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e8b3878f99db4d7227ae50710e52fe8b544d69e486f05d16793f379e5c66b4a +size 44655 diff --git a/psyonic_ability_hand_right_large/ability_hand_right_large.usda b/psyonic_ability_hand_right_large/ability_hand_right_large.usda new file mode 100644 index 0000000000000000000000000000000000000000..acfcfebc2db38d13084476864b76058f78936d47 --- /dev/null +++ b/psyonic_ability_hand_right_large/ability_hand_right_large.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16379835, 0.06736802, 0.189187) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_right_large" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_right_large/ability_hand_right_large.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_8" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_10" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_12" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json b/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..801fe739a19dd900f1c302d6d851fe34729f9e93 --- /dev/null +++ b/psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_right_large.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "8290bd3d7b63d5ece2153cd70ca4cf73c674b23daf3c8dbac398f87785bd63d9" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "39109835fe3cbdc9128efdddbf572e48090ea1b87a4e359d32655679ae55662e" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "87ce83725d0de3bf55aa9bc0c7e7aa5a8aba9001788600daf8829fc66a90dffb" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_right_large_benchmark.json", + "hash": { + "sha256": "506179c1cbeeeb508702df0ae9ff53c717c6c678706c948dee60804832fe76b7" + } + }, + { + "name": "psyonic_ability_hand_right_large_validation.json", + "hash": { + "sha256": "2ed1ae7fe1f991a4255ff14cdbf54df86776f1468fb0ada697135241695a4542" + } + } + ], + "content_hash": { + "sha256": "6adda47e18ad1449cbc940cfeb547ae35cbda3ee0043df7b39f5080730cf3b12" + }, + "package_hash": { + "sha256": "cf60e94d565f7b2ae9c569ae5ea9de072d0d7db53788d36daada5dd7f70ac790" + } +} diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_right_large/materials/mdl/license.txt b/psyonic_ability_hand_right_large/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_right_large/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda b/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..82632033927458f3baecdcb05bee7535e1551a18 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_8" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_10" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_12" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/none.usda b/psyonic_ability_hand_right_large/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/physics.usda b/psyonic_ability_hand_right_large/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..3f7f5068b1b1b576d1228997a366f33fec316555 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/physics.usda @@ -0,0 +1,584 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, -0.015764225, 0.0052371603) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028639444 + point3f physics:localPos0 = (-0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.68592525, 0.046984136, -0.714476, -0.12970379) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028368644 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028220646 + point3f physics:localPos0 = (-0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7045611, 0.07189584, -0.6983689, -0.10346699) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0000284562 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002635275 + point3f physics:localPos0 = (0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7192458, 0.1222243, -0.68176734, -0.05422187) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025811863 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027439202 + point3f physics:localPos0 = (0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7213953, 0.09878215, -0.6810987, -0.077041835) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028514281 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047244236 + point3f physics:localPos0 = (-0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.094797164, -0.044030096, 0.0041969586, -0.99451363) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027644983 + point3f physics:localPos0 = (0.02782835, 1.7436511e-19, 0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6087614, 0.7933533, 2.1287735e-18, 1.6334654e-18) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01429402, -0.0018885, 0.00496979) + float3 physics:diagonalInertia = (7.780558e-8, 2.539683e-7, 2.406983e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9624208, -0.078504354, -0.24595936, -0.08418586) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, 0.0037611115) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.00002585989) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.03599411, 0.0052931556, 0.20808075) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Physics/physx.usda b/psyonic_ability_hand_right_large/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..adb4dfa6db5861d78511b7d545c6d1095dfcaee8 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Physics/physx.usda @@ -0,0 +1,130 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "PhysicsMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Robot/none.usda b/psyonic_ability_hand_right_large/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Robot/robot.usda b/psyonic_ability_hand_right_large/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/Sensor/none.usda b/psyonic_ability_hand_right_large/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda b/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_large/payloads/base.usda b/psyonic_ability_hand_right_large/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..87ba66b35ab61516191fca10f0de8d9d8f6047b5 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (-0.01, 0.028, 0.09) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, 0.017678, -0.017678), (0, -0.017678, 0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.6859252452850342, 0.04698413610458374, -0.7144759893417358, -0.12970378994941711) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.684699296951294, -0.2234230637550354, -0.6802687644958496, 0.13602709770202637) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02973959967494011, -0.015294894576072693, 0.1340540498495102) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.7045611143112183, 0.07189583778381348, -0.6983689069747925, -0.10346698760986328) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6921801567077637, -0.19429698586463928, -0.6746382713317871, 0.16732728481292725) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.007730953861027956, -0.018318383023142815, 0.13708895444869995) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.7192457914352417, 0.12222430109977722, -0.6817673444747925, -0.05422186851501465) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6873977184295654, -0.14141085743904114, -0.6780475378036499, 0.21849222481250763) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.033192917704582214, -0.013271328061819077, 0.12903451919555664) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.7213953137397766, 0.09878215193748474, -0.6810986995697021, -0.07704183459281921) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6979194283485413, -0.16290467977523804, -0.6686668992042542, 0.19812890887260437) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014245127327740192, -0.016297917813062668, 0.13502708077430725) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.09479716420173645, -0.044030096381902695, 0.004196958616375923, -0.9945136308670044) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087613105773926, 0.7933534383773804, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.027828399091959, 0, 0.014750700443983078) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.09264028072357178, 0.048403818160295486, -0.7864457368850708, -0.6087512373924255) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04996439814567566, -0.0014761881902813911, 0.04943762347102165) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.0012390000047162175) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, 0.006438999902456999) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.012409999966621399) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.0012890000361949205) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.012439999729394913) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, 0.00558000011369586) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869382917881, 0.006984835956245661) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (3.092890494826861e-7, -0.9852590560913086, -0.1710689812898636, 5.370137046156742e-8) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06518670171499252, 0.023340199142694473, 0.0039348299615085125) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_12" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/geometries.usd b/psyonic_ability_hand_right_large/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..24b5d50783241ac3b1c2a950160a8ffb5fcf8470 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baee1d318721b0e03fd7097171f61b644ec75fac948610aaf045113fdc8a35fc +size 4202634 diff --git a/psyonic_ability_hand_right_large/payloads/instances.usda b/psyonic_ability_hand_right_large/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..40977c83779cc8be0c5d483e8c057d9bf346353e --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/instances.usda @@ -0,0 +1,550 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_11" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_11" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_12" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_12" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/materials.usda b/psyonic_ability_hand_right_large/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..f36f7ff5ab76d728b2be025567087772452efbe6 --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/materials.usda @@ -0,0 +1,173 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_right_large/payloads/robot.usda b/psyonic_ability_hand_right_large/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..ab57e20a7ccba907996d57f88d06fe0f3c6023da --- /dev/null +++ b/psyonic_ability_hand_right_large/payloads/robot.usda @@ -0,0 +1,542 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda b/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..b300145d8fc93b95416f16fa27b4876edae74b38 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.255745043506646, -0.0041022981601429405] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.105774579900677, -0.0040423097225705225] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.436883909197574, -0.0037747534035964705] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.825940022057962, -0.003930376162235637] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -16.91809512127103, -0.006767238371341571] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.89963093301323, -0.003959852197114477] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/newton.usda b/psyonic_ability_hand_right_large/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..8c1f44eb36c9b711de0e5a4a046fb51772219e56 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_right_large/runnables/physics/physx.usda b/psyonic_ability_hand_right_large/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..941b9c3b08d3eff9540ef94d8452e82e1fd230c5 --- /dev/null +++ b/psyonic_ability_hand_right_large/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = -0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_12" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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/dev/null +++ b/psyonic_ability_hand_right_small/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "ability_hand_right_small.usda" + ] +} diff --git a/psyonic_ability_hand_right_small/.metadata/license.txt b/psyonic_ability_hand_right_small/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..845205dedc173e79ce84cf8661495a3c08bfd02e --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_benchmark.json @@ -0,0 +1,26141 @@ +{ + "schema_version": "1.0", + "asset": "psyonic_ability_hand_right_small", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.376, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.376, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 206.094, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 35, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 12, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 12, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 12.28, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1754.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 57596, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 58075, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1665, + 0.1666, + 0.1664 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999983, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999913, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 206.094, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 35, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 12, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 12, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 12.28, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1754.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 57596, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 58075, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1665, + 0.1666, + 0.1664 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999983, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999913, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 8.172, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.796, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 132.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 6, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755971802, + "start": -1.1187021361352967e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 28, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755984196, + "start": 1.2074946619845817e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 31, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755969663, + "start": -1.3325288138535396e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755985505, + "start": 2.5170802399852865e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 34, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.523598775598465, + "start": -1.6623655848136548e-13, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756020699, + "start": 3.7710763331477715e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.172, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 6, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 4, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.625, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 32, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 19.53, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.109, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 6, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 5, + "unit": null + }, + "dgv_joints_failed": { + "value": 1, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235971846337689, + "start": -1.590964529896155e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523597214962575, + "start": -1.5606357237629709e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235973337301912, + "start": -1.4418681075767381e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235972078589667, + "start": -1.5677393321311683e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 482, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": -0.5235978134897833, + "start": 9.621085155231413e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 1009, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235494387776326, + "start": -4.933682066621259e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 296, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 62.969, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 6, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_q2", + "body_path": "/World/AssetRoot/Asset/thumb_L2", + "direction": "-XZ", + "world_com": [ + -0.0776851579687189, + -0.001711773837869416, + 0.05637122117760316 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.187, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 72, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 72.04, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.031, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 6, + "unit": null + }, + "eff_joints_passed": { + "value": 6, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "pinky_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_q2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/index_L1", + "runtime_lower": 0.0, + "runtime_upper": 1.7399998903274536, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + 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"authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_006.json", + "csv": "motion_history/eff_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 110.031, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 26.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 6288, + "planned_nominal_ticks_estimate": 6288, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 109.93700000003446, + "setup_elapsed_wall_seconds": 1.047000000020489, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3250.0629999999655, + "observed_service_seconds_per_nominal_tick": 0.017317111959289755, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 93.03900000150315, + "attempts": 6288 + }, + "captures": { + "wall_seconds": 7.9089999998686835, + "attempts": 48 + }, + "bounds": { + "wall_seconds": 2.246999999973923, + "attempts": 271 + }, + "camera": { + "wall_seconds": 0.5760000003501773, + "attempts": 5400 + }, + "optional_motion": { + "wall_seconds": 1.0089999998454005, + "attempts": 6102 + }, + "commands": { + "wall_seconds": 1.528999998816289, + "attempts": 6048 + }, + "encoding": { + "wall_seconds": 1.672000000020489, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 10, + "unit": null + }, + "frs_joints_tested": { + "value": 6, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 4, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0019496865362336098, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "index_q1", + "segment": "to_max", + "requested_start": -1.102964291080366e-12, + "observed_start": -1.102964291080366e-12, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.012500159212121234 + }, + { + "joint": "index_q1", + "segment": "to_min", + "requested_start": 1.5659999012947083, + "observed_start": 1.5660680532455444, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.011111796637006677 + }, + { + "joint": "index_q1", + "segment": "to_zero", + "requested_start": 0.17399998903274538, + "observed_start": 0.17401158809661865, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.001388999165425897 + }, + { + "joint": "middle_q1", + "segment": "to_max", + "requested_start": 1.3139330931871002e-13, + "observed_start": 1.3139330931871002e-13, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 8.067776679992676, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + 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by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "ring_q1", + "follower_joint_name": "ring_q2", + "gearing": 1.0585132837295532, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + 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+ }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "ring_q1", + "follower_joint_name": "ring_q2", + "gearing": 1.0585132837295532, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0585132837295532, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "ring_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.687, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { 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278.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.1, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.266, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.252027, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 3.266, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.252027, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.345, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1669.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 55713, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.516, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.345, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1669.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 35, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 55713, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 30.359, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.11, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 85.17, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.01720306939646434, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 137.078, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 6, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.234, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 60, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 70.57, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.015, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 6, + "unit": null + }, + "sta_joints_passed": { + "value": 6, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 2.755414253644305, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "pinky_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/pinky_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 233, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.14602500200271606, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 259, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.688, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 4, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 6, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.8738249895042179, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 6, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 174.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.532, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 6, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/index_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 8, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/middle_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.800000011920929, + "damping": 0.01600000075995922, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": 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support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_q1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/ring_q1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 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+ "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_q2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/thumb_q2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.7301250100135803, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 88, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..5e78f01b6545573a780a7bb59e132d36d24ec1eb --- /dev/null +++ b/psyonic_ability_hand_right_small/.metadata/psyonic_ability_hand_right_small_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/ability_hand_right_small.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png b/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..56ef44a01d13244835496cc1dc15be11514fe733 --- /dev/null +++ b/psyonic_ability_hand_right_small/.thumbs/256x256/ability_hand_right_small.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fefa17fbc0068e08811f47da59f3cc9159aa3fa63c7880977f4a42c728fe8606 +size 44733 diff --git a/psyonic_ability_hand_right_small/ability_hand_right_small.usda b/psyonic_ability_hand_right_small/ability_hand_right_small.usda new file mode 100644 index 0000000000000000000000000000000000000000..329ed4d89e0d028346f5d4e94d43060f6ce4d35f --- /dev/null +++ b/psyonic_ability_hand_right_small/ability_hand_right_small.usda @@ -0,0 +1,1813 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/ability_hand" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16379835, 0.06493836, 0.18329634) + string asset_license = "CC-BY-4.0" + string asset_name = "ability_hand_right_small" + string asset_type = "robot" + string author = "Psyonic" + string category = "robot end effector" + double mass = 0.48654999933205545 + string qcode = "Q1340324" + int rigid_body_count = 11 + string source_file = "Psyonic/ability_hand_right_small/ability_hand_right_small.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_2" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_4" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_6" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_8" + { + token visibility = "invisible" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" ( + instanceable = false + ) + { + over "mesh_10" + { + token visibility = "invisible" + } + } + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json b/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..cebb7f98e2b388f7a5e7bd1430061fbf912777f2 --- /dev/null +++ b/psyonic_ability_hand_right_small/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_right_small.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "1e733729a6ac475152c759d043a3723b242893435fc14621c90920b32ab2a657" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "1de83fb273536e633359e022295ad1d4b0019a1662ba515a93311db813f2c5b3" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "e6febce0291a8ae74fbd19c0c41e55518f91437467b5a0ffc631ea1e7103824d" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "psyonic_ability_hand_right_small_benchmark.json", + "hash": { + "sha256": "66a0c068e5a4f6023fec68d1ee591b7adf3d2e181637df0dffc0612202e19a44" + } + }, + { + "name": "psyonic_ability_hand_right_small_validation.json", + "hash": { + "sha256": "db8f9dc361813f6d7ec4191ed19400be3fac158a54ec55b08f363f65871aaaa9" + } + } + ], + "content_hash": { + "sha256": "a1a2d94a828230002a632ac3f110386be9149afdfd3870c79830415187d8bdfa" + }, + "package_hash": { + "sha256": "bc282db8aadce19a4df9d83e043fb0736af69fafab79c3d31c01d7fb34504ac8" + } +} diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/psyonic_ability_hand_right_small/materials/mdl/license.txt b/psyonic_ability_hand_right_small/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl b/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/psyonic_ability_hand_right_small/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda b/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..ac3578673b26a4c65dab442514c9338c0f2ae85d --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/mujoco.usda @@ -0,0 +1,691 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "base" + { + over "visuals" + { + over "wrist_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + + over "palm_mesh" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_2" ( + ) + { + } + } + } + } + } + } + + over "index_L1" + { + over "visuals" + { + over "index_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "index_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "middle_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "pinky_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "pinky_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "ring_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_q1" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "thumb_q2" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "index_L2" + { + over "fsr0" + { + } + + over "fsr1" + { + } + + over "fsr2" + { + } + + over "fsr3" + { + } + + over "fsr4" + { + } + + over "fsr5" + { + } + + over "index_anchor" + { + } + + over "visuals" + { + over "index_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "middle_L1" + { + over "visuals" + { + over "middle_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "middle_L2" + { + over "fsr10" + { + } + + over "fsr11" + { + } + + over "fsr6" + { + } + + over "fsr7" + { + } + + over "fsr8" + { + } + + over "fsr9" + { + } + + over "middle_anchor" + { + } + + over "visuals" + { + over "middle_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "pinky_L1" + { + over "visuals" + { + over "pinky_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "pinky_L2" + { + over "fsr18" + { + } + + over "fsr19" + { + } + + over "fsr20" + { + } + + over "fsr21" + { + } + + over "fsr22" + { + } + + over "fsr23" + { + } + + over "pinky_anchor" + { + } + + over "visuals" + { + over "pinky_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "ring_L1" + { + over "visuals" + { + over "ring_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_4" ( + ) + { + } + } + } + } + } + } + + over "ring_L2" + { + over "fsr12" + { + } + + over "fsr13" + { + } + + over "fsr14" + { + } + + over "fsr15" + { + } + + over "fsr16" + { + } + + over "fsr17" + { + } + + over "ring_anchor" + { + } + + over "visuals" + { + over "ring_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_6" ( + ) + { + } + } + } + } + } + } + + over "thumb_L1" + { + over "visuals" + { + over "thumb_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_8" ( + ) + { + } + } + } + } + } + } + + over "thumb_L2" + { + over "fsr24" + { + } + + over "fsr25" + { + } + + over "fsr26" + { + } + + over "fsr27" + { + } + + over "fsr28" + { + } + + over "fsr29" + { + } + + over "thumb_anchor" + { + } + + over "visuals" + { + over "thumb_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + } + } + } + } + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "Looks" + { + } + + over "mesh" + { + over "mesh_10" ( + ) + { + } + } + } + } + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/none.usda b/psyonic_ability_hand_right_small/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/physics.usda b/psyonic_ability_hand_right_small/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..85e8be5aa3900a600d66dbdfaadf464eb04d7c68 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/physics.usda @@ -0,0 +1,585 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.00065452, -0.00598838, 0.05077265) + float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001) + float physics:mass = 0.37511 + quatf physics:principalAxes = (0.99636436, 0.08355953, -0.015764225, 0.0052371603) + rel physics:simulationOwner + + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "index_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "joints" + { + def PhysicsRevoluteJoint "index_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028639444 + point3f physics:localPos0 = (-0.028, -0.009, 0.096) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.68592525, 0.046984136, -0.714476, -0.12970379) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "index_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028368644 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00028220646 + point3f physics:localPos0 = (-0.008, -0.012, 0.099) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7045611, 0.07189584, -0.6983689, -0.10346699) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0000284562 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.0002635275 + point3f physics:localPos0 = (0.031, -0.007, 0.091) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7192458, 0.1222243, -0.68176734, -0.05422187) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "pinky_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000025811863 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027439202 + point3f physics:localPos0 = (0.012, -0.01, 0.097) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7213953, 0.09878215, -0.6810987, -0.077041835) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_q2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.000028514281 + point3f physics:localPos0 = (0.038472723, 0.003257695, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -21.105623 + float physics:upperLimit = 126.63373 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00047244236 + point3f physics:localPos0 = (-0.024047667, 0.0037812474, 0.03232965) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.094797164, -0.044030096, 0.0041969586, -0.99451363) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -99.69465 + float physics:upperLimit = 0 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_q2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.016 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.8 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0.00027644983 + point3f physics:localPos0 = (0.02782835, 1.7436511e-19, 0.0147507) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6087614, 0.7933533, 2.1287735e-18, 1.6334654e-18) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 99.69465 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "index_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "middle_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "pinky_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896) + float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291) + rel physics:simulationOwner + + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142) + float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215) + float physics:mass = 0.00636 + quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "ring_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639) + float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948) + float physics:mass = 0.006 + quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255) + rel physics:simulationOwner + + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01429402, -0.0018885, 0.00496979) + float3 physics:diagonalInertia = (7.780558e-8, 2.539683e-7, 2.406983e-7) + float physics:mass = 0.002 + quatf physics:principalAxes = (0.9624208, -0.078504354, -0.24595936, -0.08418586) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + over "thumb_L2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.027762456, 0.005621711, 0.0037611115) + float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.00002585989) + float physics:mass = 0.06 + quatf physics:principalAxes = (0.9774349, 0.03599411, 0.0052931556, 0.20808075) + rel physics:simulationOwner + + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + bool physics:collisionEnabled = 0 + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Physics/physx.usda b/psyonic_ability_hand_right_small/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..adb4dfa6db5861d78511b7d545c6d1095dfcaee8 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Physics/physx.usda @@ -0,0 +1,130 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxMimicJoint:rotZ:dampingRatio = 0.005 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 0 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 1 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "PhysicsMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Robot/none.usda b/psyonic_ability_hand_right_small/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Robot/robot.usda b/psyonic_ability_hand_right_small/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..4c97936c7d3cf189cca48c8d40caa9fe0f1f13f3 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Robot/robot.usda @@ -0,0 +1,287 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/Sensor/none.usda b/psyonic_ability_hand_right_small/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..980157bebb3a5660cdb4df3681290ba7df6fb0b2 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda b/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..912ec8511b4b723ee8f4faba7aa524f8221dded6 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "ability_hand" +{ +} + diff --git a/psyonic_ability_hand_right_small/payloads/base.usda b/psyonic_ability_hand_right_small/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..f6af7c58389d595cc4fc56f2e8334f80044ce824 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/base.usda @@ -0,0 +1,1296 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "ability_hand" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "wrist_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + + def Xform "palm_mesh" + { + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "palm_mesh_coll" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.065 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Multi-finger hand grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (-0.01, 0.028, 0.09) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)] + point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)] + point3f[] points = [(0, 0.017678, -0.017678), (0, -0.017678, 0.017678)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_L1" + { + quatd xformOp:orient = (0.6859252452850342, 0.04698413610458374, -0.7144759893417358, -0.12970378994941711) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02800000086426735, -0.008999999612569809, 0.09600000083446503) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "joints" + { + } + + def Xform "index_L2" + { + quatd xformOp:orient = (0.684699296951294, -0.2234230637550354, -0.6802687644958496, 0.13602709770202637) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02973959967494011, -0.015294894576072693, 0.1340540498495102) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr0" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr1" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr2" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr3" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr4" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr5" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "index_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "index_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "index_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L1" + { + quatd xformOp:orient = (0.7045611143112183, 0.07189583778381348, -0.6983689069747925, -0.10346698760986328) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00800000037997961, -0.012000000104308128, 0.0989999994635582) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "middle_L2" + { + quatd xformOp:orient = (0.6921801567077637, -0.19429698586463928, -0.6746382713317871, 0.16732728481292725) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.007730953861027956, -0.018318383023142815, 0.13708895444869995) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr10" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr11" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr6" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr7" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr8" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr9" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "middle_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "middle_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "middle_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L1" + { + quatd xformOp:orient = (0.7192457914352417, 0.12222430109977722, -0.6817673444747925, -0.05422186851501465) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03099999949336052, -0.007000000216066837, 0.09099999815225601) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "pinky_L2" + { + quatd xformOp:orient = (0.6873977184295654, -0.14141085743904114, -0.6780475378036499, 0.21849222481250763) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.033192917704582214, -0.013271328061819077, 0.12903451919555664) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr18" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr19" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr20" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr21" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr22" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr23" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "pinky_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "pinky_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "pinky_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L1" + { + quatd xformOp:orient = (0.7213953137397766, 0.09878215193748474, -0.6810986995697021, -0.07704183459281921) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.012000000104308128, -0.009999999776482582, 0.09700000286102295) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "ring_L2" + { + quatd xformOp:orient = (0.6979194283485413, -0.16290467977523804, -0.6686668992042542, 0.19812890887260437) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014245127327740192, -0.016297917813062668, 0.13502708077430725) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr12" + { + quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr13" + { + quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr14" + { + quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr15" + { + quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr16" + { + quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr17" + { + quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "ring_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "ring_mesh_coll_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.00912410020828247, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L1" + { + quatd xformOp:orient = (0.09479716420173645, -0.044030096381902695, 0.004196958616375923, -0.9945136308670044) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_1" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_coll_mesh_1" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.6087613105773926, 0.7933534383773804, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.027828399091959, 0, 0.014750700443983078) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Xform "thumb_L2" + { + quatd xformOp:orient = (0.09264028072357178, 0.048403818160295486, -0.7864457368850708, -0.6087512373924255) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04996439814567566, -0.0014761881902813911, 0.04943762347102165) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fsr24" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.0012390000047162175) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr25" + { + quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, 0.006438999902456999) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr26" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.012409999966621399) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr27" + { + quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.0012890000361949205) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr28" + { + quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.012439999729394913) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "fsr29" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, 0.00558000011369586) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_anchor" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0520012266933918, 0.02800869382917881, 0.006984835956245661) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "thumb_mesh_2" + { + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "thumb_hull_mesh_2" + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (3.092890494826861e-7, -0.9852590560913086, -0.1710689812898636, 5.370137046156742e-8) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.06518670171499252, 0.023340199142694473, 0.0039348299615085125) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "node_STL_BINARY_" ( + kind = "component" + ) + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "mesh" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + } + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/geometries.usd b/psyonic_ability_hand_right_small/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..0c21b8d5805decdfe83c3a46f1edb294f0b7386d --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2713f7e042890752245eef94f25bc35542dc3d38df26b68df4e3304eb6d3667 +size 4140879 diff --git a/psyonic_ability_hand_right_small/payloads/instances.usda b/psyonic_ability_hand_right_small/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..37d5db1b6850d7563d8b68dd1ecdfe72c006a17f --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/instances.usda @@ -0,0 +1,467 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/materials.usda b/psyonic_ability_hand_right_small/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..e51a7d98196d1bc3880d060f33a50737be36c1d4 --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/materials.usda @@ -0,0 +1,170 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "DefaultMaterial" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "DefaultMaterial" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49803925, 0.49803925, 0.49803925) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/psyonic_ability_hand_right_small/payloads/robot.usda b/psyonic_ability_hand_right_small/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..1dc5b6db6fbd4b84270d355b37b4a91e6310145f --- /dev/null +++ b/psyonic_ability_hand_right_small/payloads/robot.usda @@ -0,0 +1,539 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog + string isaac:description + token isaac:license + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + string isaac:source + string isaac:version + + over "base" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "index_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "index_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "middle_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "pinky_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "ring_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_q2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr1" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr2" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr3" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr4" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr5" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "index_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "middle_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr10" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr11" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr6" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr7" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr8" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr9" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "middle_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "pinky_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "pinky_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr18" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr19" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr20" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr21" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr22" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr23" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "pinky_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "ring_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr12" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr13" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr14" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr15" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr16" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr17" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "ring_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "thumb_L1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_L2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "fsr24" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr25" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr26" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr27" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr28" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "fsr29" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + + over "thumb_anchor" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda b/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..bef8f4cb6f53d1a8d0f8f112ff5d237655d034a8 --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/mujoco.usda @@ -0,0 +1,428 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +def "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "index_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "pinky_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_q2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_q2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_ability_hand_joints_index_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.255745043506646, -0.0041022981601429405] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_middle_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -10.105774579900677, -0.0040423097225705225] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_pinky_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.436883909197574, -0.0037747534035964705] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_ring_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -9.825940022057962, -0.003930376162235637] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -16.91809512127103, -0.006767238371341571] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 1.2000000476837158 + double mjc:forceRange:min = -1.2000000476837158 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_ability_hand_joints_thumb_q2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [8.466276571154594, -9.89963093301323, -0.003959852197114477] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 6 + double mjc:forceRange:min = -6 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/newton.usda b/psyonic_ability_hand_right_small/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..61402c64197a661d97e29aaa4dd37529880d6515 --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/newton.usda @@ -0,0 +1,370 @@ +#usda 1.0 +( + defaultPrim = "ability_hand" +) + +over "ability_hand" +{ + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "index_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "middle_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "middle_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "pinky_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "pinky_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00065 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "ring_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + + over "ring_q2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float newton:damping = 0.00072 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0585133 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "thumb_q1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.146025 + float newton:damping = 0.003245 + float newton:velocityLimit = 2311.248 + } + + over "thumb_q2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 6 + float drive:angular:physics:stiffness = 0.730125 + float newton:damping = 0.016225 + float newton:velocityLimit = 462.24957 + } + } +} + diff --git a/psyonic_ability_hand_right_small/runnables/physics/physx.usda b/psyonic_ability_hand_right_small/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..439ae028961d2497effd1931bf7525bf894a8f0f --- /dev/null +++ b/psyonic_ability_hand_right_small/runnables/physics/physx.usda @@ -0,0 +1,374 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "ability_hand" + metersPerUnit = 1 + upAxis = "Z" +) + +over "ability_hand" +{ + over "joints" + { + over "index_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "index_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "middle_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "pinky_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "ring_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0585133 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ" + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 2311.248 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "thumb_q2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.001 + float physxJoint:maxJointVelocity = 462.24957 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "base" + { + over "collisions" + { + over "palm_mesh_coll" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L1" + { + over "collisions" + { + over "index_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "index_L2" + { + over "collisions" + { + over "index_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L1" + { + over "collisions" + { + over "middle_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "middle_L2" + { + over "collisions" + { + over "middle_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L1" + { + over "collisions" + { + over "pinky_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "pinky_L2" + { + over "collisions" + { + over "pinky_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L1" + { + over "collisions" + { + over "ring_mesh_coll_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "ring_L2" + { + over "collisions" + { + over "ring_mesh_coll_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_6" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L1" + { + over "collisions" + { + over "thumb_coll_mesh_1" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_8" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } + + over "thumb_L2" + { + over "collisions" + { + over "thumb_hull_mesh_2" + { + over "node_STL_BINARY_" + { + over "mesh" + { + over "mesh_10" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + } +} + diff --git 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b/robotiq_2f_140/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/robotiq_2f_140/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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+ "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 183.766, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 29, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1435.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 44557, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 44860, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.139, + 0.1388, + 0.1387 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999955, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999237, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 183.766, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 29, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.047, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1435.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 44557, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 44860, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.139, + 0.1388, + 0.1387 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999955, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999237, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.0, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 938.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756346371, + "start": 3.633823103532663e-11, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.343, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.407, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 203.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.516, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987755982988, + "start": -6.83872734650952e-20, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 156, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.422, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "finger_joint", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "direction": "-XZ", + "world_com": [ + 0.05294138565659259, + 0.05289376527070961, + 0.15000001784290032 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.437, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 369.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.969, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.265, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.673, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 56.08, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.375, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 26.26500000001397, + "setup_elapsed_wall_seconds": 2.562000000034459, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3333.734999999986, + "observed_service_seconds_per_nominal_tick": 0.018992788461522043, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 17.733999999705702, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 3.0630000001983717, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.31299999996554106, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09199999994598329, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.18900000024586916, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.17199999990407377, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 1.9690000000409782, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0033423719326348537, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": 1.3772914232712541e-11, + "observed_start": 1.3772914232712541e-11, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005642300562748645 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.706858366727829, + "observed_start": 0.7068567276000977, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005015365194216415 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.07853981852531433, + "observed_start": 0.07854003459215164, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006269240094558537 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.063, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 340.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.969, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.2689280275926285, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.734, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 11.640999999945052, + "setup_elapsed_wall_seconds": 4.780999999959022, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3348.359000000055, + "observed_service_seconds_per_nominal_tick": 0.005461783439479323, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 1.899000000441447, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 0.609000000054948, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.469999999855645, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.17399999999906868, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.43500000005587935, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.599999999627471, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.5779999999795109, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0033423739018534552, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": -1.8174535830497802e-19, + "observed_start": -1.8174535830497802e-19, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005642300562858583 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.706858366727829, + "observed_start": 0.7067551612854004, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005014554469315868 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.07853981852531433, + "observed_start": 0.07863139361143112, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006276532574478466 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 67.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.578, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7853981852531433, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.268928050994873, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 53.14, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.14000000059604645, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 2.0, + "unit": null + }, + 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force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 59.469, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.14000000059604645, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 2.0, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, 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0.002, + "grasp_depth_search_attempts": 4, + "grasp_depth_search_step_radius_fraction": 0.5, + "open_position_tolerance": 0.005, + "close_settle_seconds": 0.3, + "lift_delta_z": 0.2, + "lift_duration_s": 1.0, + "lift_fps": 240, + "hold_duration_s": 1.0, + "enable_shake": true, + "shake_amplitude_m": 0.02, + "shake_frequency_hz": 2.0, + "shake_duration_s": 2.0, + "shake_min_z_threshold_m": 0.02, + "shake_max_relative_slip_m": 0.03, + "enable_drop": true, + "drop_wait_s": 1.0, + "drop_min_dz_m": 0.05, + "fall_min_delta_z": 0.05, + "horizontal_drift_max": 0.05, + "pre_load_max_dz": 0.01, + "carrier_translate_tolerance_m": 0.01, + "min_lift_for_eval_m": 0.1, + "jik_max_iterations": 80, + "jik_step_size": 0.05, + "jik_position_tolerance": 0.005, + "jik_rms_tolerance": 0.003, + "jik_contact_force_threshold_n": 0.5, + "max_close_frames": 1200, + "physics_fps": 240.0, + "carrier_merge_rail": true, + "detect_limit_inset_frac": 0.05 + }, + "joints": [ + { + "name": "finger_joint", + "dof_index": 1, + "role": "closure", + "open_target": 0.0, + "closed_target": 0.7853981852531433, + "close_delay_steps": 0, + "unit": "rad", + "identity_resolved": true + } + ], + "joints_omitted": 0, + "object_offset_world_xy_m": [ + 0.0, + 0.0 + ], + "grasp_center_base_m": null, + "approach_pitch_deg": null, + "descent_reference": "fingertips", + "transport_omissions": { + "joints": 0, + "hand_joint_controls": 0, + "hand_close_delays": 0, + "procedure_settings": 0 + } + }, + "unit": null + }, + "grasp_center_initial_z_sphere": { + "value": 0.18200000062584876, + "unit": null + }, + "approach_clearance_m_sphere": { + "value": 0.1280000004172325, + "unit": null + }, + "spawn_center_z_sphere": { + "value": 0.05400000020861625, + "unit": null + }, + "open_joint_actual_sphere": { + "value": 0.0001647362660150975, + "unit": null + }, + "open_joint_expected_sphere": { + "value": 0.0, + "unit": null + }, + "open_joint_worst_error_sphere": { + "value": 0.0001647362660150975, + "unit": null + }, + "measured_separation_after_open_sphere": { + "value": 0.0015143611485438865, + "unit": null + }, + "descent_total_sphere": { + "value": 0.13223774122171816, + "unit": null + }, + "descent_contacted_sphere": { + "value": false, + "unit": null + }, + "contact_backoff_m_sphere": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_sphere": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_sphere": { + "value": true, + "unit": null + }, + "close_joint_actual_sphere_finger_joint": { + "value": 0.007612465415149927, + "unit": null + }, + "close_joint_fraction_sphere": { + "value": 0.00969249172977951, + "unit": null + }, + "object_lateral_drift_after_close_sphere": { + "value": 3.291483659427932e-11, + "unit": null + }, + "object_z_drift_from_spawn_after_close_sphere": { + "value": -0.00500000521540641, + "unit": null + }, + "grip_confirmed_contact_sphere": { + "value": true, + "unit": null + }, + "grip_object_retained_sphere": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_sphere": { + "value": 0.038948528468608856, + "unit": null + }, + "horizontal_drift_m_sphere": { + "value": 0.024124965915350474, + "unit": null + }, + "pre_load_dz_m_sphere": { + "value": 0.0, + "unit": null + }, + "shake_object_min_z_sphere": { + "value": 0.1886952519416809, + "unit": null + }, + "shake_max_relative_slip_m_sphere": { + "value": 0.00028070807456970215, + "unit": null + }, + "shake_passed_sphere": { + "value": true, + "unit": null + }, + "drop_pre_z_sphere": { + "value": 0.20868515968322754, + "unit": null + }, + "drop_post_z_sphere": { + "value": 0.04899999499320984, + "unit": null + }, + "drop_dz_sphere": { + "value": 0.1596851646900177, + "unit": null + }, + "drop_passed_sphere": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "sphere", + "unit": null + }, + "motion_history_gripper_sphere": { + "value": { + "schema_version": 1, + "name": "gripper_sphere", + "channels": { + "object_x": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_y": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_z": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "carrier_x": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_y": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 508, + "json": "motion_history/gripper_sphere.json", + "csv": "motion_history/gripper_sphere.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "rad", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "rad", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "rad", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "sphere", + "trial_number": 1, + "shape": "sphere", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_000.json", + "csv": "motion_history/gripper_sphere_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/left_inner_finger", + "/World/AssetRoot/Asset/right_inner_finger" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 436.796, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 39.073, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 868.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_finger_joint_rot_deg": { + "value": 56.49, + "unit": null + }, + "jm_joint_finger_joint_trans_pct": { + "value": 149.4, + "unit": null + }, + "jm_joint_finger_joint_bbox_m": { + "value": 0.0398, + "unit": null + }, + "jm_joint_finger_joint_translation_stage_units": { + "value": 0.05949235969999532, + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_stage_units": { + "value": 0.0398199423001816, + "unit": null + }, + "jm_joint_finger_joint_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_finger_joint_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_finger_joint_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_finger_joint_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + 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"/World/AssetRoot/Asset/right_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/right_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/right_outer_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_pad_joint", + "authored_joint_name": "right_inner_finger_pad_joint", + "prim_path": "/World/AssetRoot/Asset/right_inner_finger_pad_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/right_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_inner_finger_pad_joint", + "authored_joint_name": "left_inner_finger_pad_joint", + "prim_path": "/World/AssetRoot/Asset/left_inner_finger_pad_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/left_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.984, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.645, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 354.83, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.896552, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 26, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.864189, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.030391, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.984, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.645, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 354.83, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.896552, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + 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"/World/AssetRoot/Asset/right_inner_finger_pad_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + }, + "motion_history_mim_reference_005": { + "value": { + "schema_version": 1, + "name": "mim_reference_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_pad_joint", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_005.json", + "csv": "motion_history/mim_reference_005.csv" + }, + "unit": null + }, + "motion_history_mim_follower_005": { + "value": { + "schema_version": 1, + "name": "mim_follower_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_pad_joint", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "left_inner_finger_pad_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_inner_finger_pad_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_005.json", + "csv": "motion_history/mim_follower_005.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 4.547, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 5.235, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.627, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 578.37, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000866, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.003207, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.627, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 578.37, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000866, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.003207, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 51.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1881.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 12, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 44663, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 51.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1881.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 12, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 44663, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 82.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.737, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 786.85, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.297, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -149.7, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 82.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.737, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 786.85, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.297, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -149.7, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.234, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1226.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.194488, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.234, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1226.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.194488, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.828, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1365.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "universal_surface_materials_total": { + "value": 12, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 44439, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.828, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1365.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 12, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 12, + "unit": null + }, + "universal_surface_materials_total": { + "value": 12, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 29, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 44439, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.312, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211071000834, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 381.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 1.810000129989768e-05, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.718, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 100.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.61, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.06964099297559098, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 169, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.672, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211347372104, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.485, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 485.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.75, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 6, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.859, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.9813211007588825, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 273.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 7.5, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json b/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..3187562dc71a01008b97346f0d61785b0d48d48c --- /dev/null +++ b/robotiq_2f_140/.metadata/robotiq_2f_140_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/2F_140.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png b/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..73b88d3522dfc96c867ba8114b0278f3fe7746f3 --- /dev/null +++ b/robotiq_2f_140/.thumbs/256x256/2F_140.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99597e99c879ae2b6658169f5b78dba72f71a6415c0c4e9065a9cba902d78fae +size 45745 diff --git a/robotiq_2f_140/2F_140.usda b/robotiq_2f_140/2F_140.usda new file mode 100644 index 0000000000000000000000000000000000000000..19bb24ea8eac4eda5c44b6b9d266970a24ae1164 --- /dev/null +++ b/robotiq_2f_140/2F_140.usda @@ -0,0 +1,1936 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_140" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.12_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_140.2026.10.30_00" + ] + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + dictionary "2026-11-01" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.21090108, 0.21130733, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_140" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.45186075009405613 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-140/Robotiq_2F_140.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" ( + instanceable = false + ) + { + over "_F_Body" + { + float3[] extent = [(-0.04244335, -0.0033564342, -0.0375), (0.042443354, 0.09, 0.0375)] + } + } + } + } + + over "left_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "left_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" ( + instanceable = false + ) + { + over "Finger1" + { + float3[] extent = [(-0.06801494, 0.044373713, -0.0047), (-0.03498509, 0.064530514, 0.0047)] + } + } + } + + over "right_outer_finger" + { + over "Finger2" ( + instanceable = false + ) + { + over "Finger2" + { + float3[] extent = [(-0.105653666, 0.04403517, -0.0136), (-0.047659468, 0.13526823, 0.0136)] + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" ( + instanceable = false + ) + { + over "Finger4" + { + float3[] extent = [(-0.10343339, 0.123293996, -0.0135), (-0.07355508, 0.15128665, 0.0135)] + } + } + } + + over "Fingertip_01" + { + over "Fingertip" ( + instanceable = false + ) + { + over "Fingertip" + { + float3[] extent = [(-0.091355085, 0.14228664, -0.011), (-0.072197594, 0.20778665, 0.011)] + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" ( + instanceable = false + ) + { + over "Finger3" + { + float3[] extent = [(-0.085554935, 0.055458643, -0.0175), (-0.0067001586, 0.141748, 0.0175)] + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/robotiq_2f_140/com.nvidia.simready.packaging.json b/robotiq_2f_140/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..a14c556aa6971d7e47af538be89142b3afb73ee0 --- /dev/null +++ b/robotiq_2f_140/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_2f_140.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "77d9c60f7f6de01cca7d93c0885a1c4988c7644c438f625523610a8eab832bf0" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "a69916dd00bd718f1eac0214b497b66bc2a4624a6049cb542cee310499d2d2b5" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "fc84c7dbbe44527011eb0478185ab73cb15dea87f3f2b8417ef984d5f264ecb9" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_2f_140_benchmark.json", + "hash": { + "sha256": "6f71244e2a67b144ae31ff529190601b1060addcbc1030fc57665cb81e8aae3b" + } + }, + { + "name": "robotiq_2f_140_validation.json", + "hash": { + "sha256": "4ece653d0059fd56bf0554822a8421f3e07f66727b745dd65bf8018efbe91cbb" + } + } + ], + "content_hash": { + "sha256": "20fd0c774ae5b7393a6043920e90c4c253e6c12ff3ccce0600f8464f814fed52" + }, + "package_hash": { + "sha256": "6d9dc2ae2de41015a4e16a7abdfbd743f59a40f558a42b1878fa65b1276a6c28" + } +} diff --git a/robotiq_2f_140/materials/mdl/OmniPBR.mdl b/robotiq_2f_140/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl b/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_2f_140/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_140/materials/mdl/aux_definitions.mdl b/robotiq_2f_140/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_2f_140/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/robotiq_2f_140/materials/mdl/core_definitions.mdl b/robotiq_2f_140/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_2f_140/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/robotiq_2f_140/materials/mdl/license.txt b/robotiq_2f_140/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_2f_140/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/robotiq_2f_140/materials/mdl/support_definitions.mdl b/robotiq_2f_140/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_2f_140/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/robotiq_2f_140/payloads/Physics/mujoco.usda b/robotiq_2f_140/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..5dd6eb1121f0e060685a04fe9552ae9ce63468f2 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/mujoco.usda @@ -0,0 +1,264 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Looks" + { + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" + { + over "Looks" + { + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Looks" + { + } + + over "Fingertip" + { + over "Fingertip" ( + ) + { + } + } + } + + over "Finger4_01" + { + over "Looks" + { + } + + over "Finger4" + { + over "Finger4" ( + ) + { + } + } + } + + over "Contact_Sensor" + { + } + } + + over "left_inner_knuckle" + { + over "Looks" + { + } + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" + { + over "Looks" + { + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" + { + over "Looks" + { + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Looks" + { + } + + over "Finger4" + { + over "Finger4" ( + ) + { + } + } + } + + over "Fingertip_01" + { + over "Looks" + { + } + + over "Fingertip" + { + over "Fingertip" ( + ) + { + } + } + } + } + + over "right_inner_knuckle" + { + over "Looks" + { + } + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_outer_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_outer_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "robotiq_base_link" + { + over "grasp_frame" + { + } + + over "_F_Body_01" + { + over "Looks" + { + } + + over "_F_Body" + { + over "_F_Body" ( + ) + { + } + } + } + } + + over "fingertip_material" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physics.usda b/robotiq_2f_140/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..285f11fb9d5af5a9bdd62e3db57eda592b3ff498 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physics.usda @@ -0,0 +1,539 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18) + float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7) + float physics:mass = 0.009163293 + rel physics:simulationOwner + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452) + float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694) + float physics:mass = 0.07706425 + quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783) + rel physics:simulationOwner + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + + def PhysicsFixedJoint "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16089, 0.08148, -0.0000014782973) + float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656) + float physics:mass = 0.04983438 + quatf physics:principalAxes = (0.9941523, -0.00084205647, 0.00047910627, -0.1079824) + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9) + float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231) + float physics:mass = 0.06811222 + quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738) + rel physics:simulationOwner + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18) + float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7) + float physics:mass = 0.009163293 + rel physics:simulationOwner + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + + def PhysicsFixedJoint "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452) + float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694) + float physics:mass = 0.07706425 + quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783) + rel physics:simulationOwner + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16088824, -0.08147714, -0.0000014782973) + float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656) + float physics:mass = 0.04983438 + quatf physics:principalAxes = (0.9941524, -0.0007198045, 0.00064511795, 0.107981525) + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9) + float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231) + float physics:mass = 0.06811222 + quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738) + rel physics:simulationOwner + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 + prepend rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-2.5523844e-17, -0.030601146, 0.05466252) + point3f physics:localPos1 = (-0.030601146, 0.054904517, -6.162976e-32) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) + float physics:lowerLimit = 0 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-2.326577e-17, 0.030601146, 0.05466252) + point3f physics:localPos1 = (-0.030601146, 0.054904517, -2.5672653e-18) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (-2.814448e-17, -0.0127, 0.061178003) + point3f physics:localPos1 = (-0.0127, 0.06142, 0) + quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5) + quatf physics:localRot1 = (1.1823733e-15, 1, 1.2635337e-11, -4.8699635e-16) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (-3.72337e-17, 0.0127, 0.061178003) + point3f physics:localPos1 = (-0.0127, 0.06142, 0) + quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5) + quatf physics:localRot1 = (6.123234e-17, 0, 0, 1) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "acceleration" + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.062025998, 0.050372288, 1.2325952e-32) + point3f physics:localPos1 = (-0.062025998, 0.050372288, 8.184432e-30) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + uniform token drive:angular:physics:type = "acceleration" + uniform token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.062025998, 0.050372288, -1.2325952e-32) + point3f physics:localPos1 = (-0.062025998, 0.050372288, 2.5566664e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 1 + float drive:angular:physics:stiffness = 0.002 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.09745623, 0.12927116, 0) + point3f physics:localPos1 = (0.12902917, 0.09745623, 0) + quatf physics:localRot0 = (-1.6081226e-16, 1, 4.4886255e-32, -1.1957719e-17) + quatf physics:localRot1 = (5.0532154e-16, -0.70710677, 0.70710677, 5.168029e-16) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 1 + float drive:angular:physics:stiffness = 0.002 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (-0.09745623, 0.12927116, 0) + point3f physics:localPos1 = (0.12902917, -0.09745623, 0) + quatf physics:localRot0 = (-1.6081226e-16, 1, -3.2311323e-27, -1.1957719e-17) + quatf physics:localRot1 = (0.70710677, 1.0999103e-15, -8.806161e-17, 0.70710677) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + token visibility = "invisible" + } + + def PhysicsRevoluteJoint "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (0.13554464, -0.07955509, 0) + point3f physics:localPos1 = (-0.07955509, 0.13578665, 0) + quatf physics:localRot0 = (0.70710677, -5.0381393e-16, 1.3193001e-15, 0.70710677) + quatf physics:localRot1 = (-3.8285688e-16, 1, 1.2578549e-11, 1.2142144e-15) + float physics:lowerLimit = -45 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + uniform bool physics:excludeFromArticulation = 0 + point3f physics:localPos0 = (0.13554464, 0.07955509, 0) + point3f physics:localPos1 = (-0.07955509, 0.13578665, 0) + quatf physics:localRot0 = (5.0532154e-16, -0.70710677, 0.70710677, 5.508117e-16) + quatf physics:localRot1 = (-8.269461e-16, 1, 1.2612578e-11, 9.284436e-17) + float physics:lowerLimit = -45 + float physics:upperLimit = 45 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.000242, -1.9814578e-13, 3.4604155e-17) + float3 physics:diagonalInertia = (0.00009301462, 0.0000882971, 0.000026081625) + float physics:mass = 0.04351246 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + quatf physics:principalAxes = (0.9999719, -0.0004931656, 0.001501296, 0.007327927) + + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + bool physics:collisionEnabled = 1 + float physics:mass = 0 + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 0.8 + float physics:staticFriction = 0.9 + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physx_loop.usda b/robotiq_2f_140/payloads/Physics/physx_loop.usda new file mode 100644 index 0000000000000000000000000000000000000000..3624650688ef29c9dd5ff7b89deeda5cd8dde86e --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physx_loop.usda @@ -0,0 +1,221 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 1000 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_2f_140/payloads/Physics/physx_mimic.usda b/robotiq_2f_140/payloads/Physics/physx_mimic.usda new file mode 100644 index 0000000000000000000000000000000000000000..495dd1b3ab7189d86c1c8ab7d7a1cc18e4cb9ee2 --- /dev/null +++ b/robotiq_2f_140/payloads/Physics/physx_mimic.usda @@ -0,0 +1,373 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + def PhysicsFixedJoint "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + def PhysicsFixedJoint "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 1000 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = 1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + +def PhysicsScene "PhysicsScene" ( + prepend apiSchemas = ["NewtonSceneAPI", "PhysxSceneAPI"] +) +{ +} + diff --git a/robotiq_2f_140/payloads/base.usda b/robotiq_2f_140/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..32a3daa489844399b6aaeffbe2e60ca6f268ade8 --- /dev/null +++ b/robotiq_2f_140/payloads/base.usda @@ -0,0 +1,349 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "Robotiq_2F_140" +{ + reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"] + uniform token[] xformOpOrder = [] + + def Xform "left_outer_knuckle" ( + instanceable = false + ) + { + quatd xformOp:orient = (0.7071067811865986, 4.902349974783143e-16, 6.096901636101399e-16, -0.7071067811864964) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger1" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger1" + { + } + } + } + + def Xform "left_outer_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (-0.7071067811714563, -5.000480753317283e-16, -4.919332292219785e-16, 0.7071067812016387) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger2" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger2" + { + } + } + } + + def Xform "left_inner_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Fingertip_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621) + double3 xformOp:translate = (-0.00024200000375155698, -1.3298270597270197e-12, 7.245392490876546e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Fingertip" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Fingertip" + { + } + } + } + + def Xform "Finger4_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621) + double3 xformOp:translate = (-0.0002420000037471161, -1.3206122084166631e-12, 2.2493887683942214e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Finger4" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger4" + { + } + } + } + + def IsaacContactSensor "Contact_Sensor" + { + float4 color = (1, 0, 0, 1) + bool enabled = 1 + float radius = -1 + float sensorPeriod = -1 + float2 threshold = (0, 100000) + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_inner_knuckle" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-0.707106781177613, -1.088488258189625e-16, -1.0880323113196409e-15, 0.7071067811954821) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger3" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger3" + { + } + } + } + + def Xform "right_outer_knuckle" ( + instanceable = false + ) + { + quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811865456, 0.7071067811865495, 1.2521301036646133e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger1" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger1" + { + } + } + } + + def Xform "right_outer_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811714697, 0.7071067812016253, 1.2207040080738798e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger2" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger2" + { + } + } + } + + def Xform "right_inner_finger" ( + instanceable = false + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger4_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (-4.895440348255201e-16, 0.70710678118655, 0.7071067811865452, -1.5988453803620015e-15) + double3 xformOp:translate = (-0.00024200000374420774, 1.4220170498113577e-12, -5.788657334949278e-16) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Finger4" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger4" + { + } + } + } + + def Xform "Fingertip_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-9.38098838826452e-16, 0.7071067811865481, 0.7071067811865474, -1.3097317225518778e-15) + double3 xformOp:translate = (-0.0002420000037487319, 1.4308988342068823e-12, -1.0784661057431908e-15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "Fingertip" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Fingertip" + { + } + } + } + } + + def Xform "right_inner_knuckle" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = false + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (-1.6081226496766364e-16, 0.7071067811776556, 0.7071067811954395, -2.667677072077055e-16) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Finger3" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "Finger3" + { + } + } + } + + def Xform "robotiq_base_link" ( + instanceable = false + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, 4.329780281177466e-17, 0.7071067811865475) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "_F_Body_01" ( + instanceable = false + ) + { + quatd xformOp:orient = (0.5000000000000001, 0.49999999999999994, 0.5, 0.5) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.00024200000000245306, -1.9814576843499938e-13, 3.460415520721716e-17) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "_F_Body" ( + instanceable = true + kind = "model" + prepend references = @./instances.usda@ + ) + { + over "_F_Body" + { + } + } + } + + def Xform "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.14 + custom float gripper_maxPayload = 2 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (3.511745904322756e-17, -4.0113266590528364e-18, 0.1581549754612783) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Material "fingertip_material" ( + active = true + ) + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/robotiq_2f_140/payloads/geometries.usd b/robotiq_2f_140/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..52dcb83ad4a18cd961b913efa4e6d06b66edc535 --- /dev/null +++ b/robotiq_2f_140/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4060e9ed23b938ebb8e2893f6e1e63effafd4486966de4916743e598d0a2fb6c +size 5107041 diff --git a/robotiq_2f_140/payloads/instances.usda b/robotiq_2f_140/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..e98f39d146ee6eac35ffaa8684a9736e99bbcfc1 --- /dev/null +++ b/robotiq_2f_140/payloads/instances.usda @@ -0,0 +1,726 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "Finger1" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger1" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.22 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger2" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Fingertip" ( + prepend references = @./geometries.usd@ + ) + { + over "Fingertip" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Gray_Nurse" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Gray_Nurse" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.62 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger4" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Finger3" ( + prepend references = @./geometries.usd@ + ) + { + over "Finger3" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "_F_Body" ( + prepend references = @./geometries.usd@ + ) + { + over "_F_Body" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0] + bool physics:collisionEnabled = 1 + + over "Mystic" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "San_Marino" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Geyser" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gravel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gallery" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Chateau_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "White" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Mystic" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0.31 + float inputs:opacity = 1 + float inputs:roughness = 0.51 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "San_Marino" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824) + color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Geyser" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gravel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gallery" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Chateau_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "White" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/robotiq_2f_140/payloads/materials.usda b/robotiq_2f_140/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..6c86f1c6d7e59cb0191671c31fb21d756a209d93 --- /dev/null +++ b/robotiq_2f_140/payloads/materials.usda @@ -0,0 +1,1171 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Gray_Nurse" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.91764706, 0.91764706, 0.91764706) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.62 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.62 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.039215688, 0.039215688, 0.039215688) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.29999998 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.45 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0.29999998 + float inputs:opacity = 1 + float inputs:roughness = 0.45 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Periwinkle_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7921569, 0.81960785, 0.93333334) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.94 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.71999997 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0.94 + float inputs:opacity = 1 + float inputs:roughness = 0.71999997 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Geyser" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8117647, 0.85882354, 0.8980392) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.26 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.26 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49411765, 0.49411765, 0.49411765) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Mystic" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8980392, 0.91764706, 0.92941177) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0.31 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.51 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0.31 + float inputs:opacity = 1 + float inputs:roughness = 0.51 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "San_Marino" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.23137255, 0.38039216, 0.7058824) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0.23137255, 0.38039216, 0.7058824) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 5000 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.5 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824) + color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gravel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.29803923, 0.29803923, 0.29803923) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gallery" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.9372549, 0.9372549, 0.9372549) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.5 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Chateau_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.28627452, 0.6627451, 0.32941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "White" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Pumice" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.78431374, 0.78431374, 0.78431374) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + doc = "This is the albedo base color" + hidden = false + ) + color3f inputs:emissive_color = (0, 0, 0) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + doc = "The emission color" + hidden = false + ) + float inputs:emissive_intensity = 0 ( + customData = { + double default = 40 + } + displayGroup = "Emissive" + doc = "Intensity of the emission" + hidden = false + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + doc = "Enables the emission of light from the material" + hidden = false + ) + float inputs:metallic_constant = 1 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Metallic Material" + hidden = false + ) + float inputs:reflection_roughness_constant = 0.22 ( + customData = { + double default = 0.5 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Reflectivity" + doc = "Higher roughness values lead to more blurry reflections" + hidden = false + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 1 + float inputs:opacity = 1 + float inputs:roughness = 0.22 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/robotiq_2f_140/payloads/robot.usda b/robotiq_2f_140/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..1e164ddb71ae2d88964893672f53927a3d17cb6a --- /dev/null +++ b/robotiq_2f_140/payloads/robot.usda @@ -0,0 +1,260 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string[] isaac:changelog ( + displayName = "Changelog" + ) + string isaac:description ( + displayName = "Description" + ) + token isaac:license ( + displayName = "License" + ) + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + rel isaac:physics:robotJoints ( + displayName = "Robot Joints" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + ] + rel isaac:physics:robotLinks ( + displayName = "Robot Links" + ) + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" ( + displayName = "Robot Type" + ) + string isaac:source ( + displayName = "Source" + ) + string isaac:version ( + displayName = "Version" + ) + + over "left_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger1" + { + over "Finger1" ( + ) + { + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Finger2" + { + over "Finger2" ( + ) + { + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "Finger3" + { + over "Finger3" ( + ) + { + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_outer_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "grasp_frame" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + string isaac:Description ( + displayName = "Reference Description" + ) + uniform token isaac:forwardAxis ( + displayName = "Forward Axis" + ) + } + } +} + diff --git a/robotiq_2f_140/runnables/physics/mujoco.usda b/robotiq_2f_140/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..01448f2d2efff5fdaff580e00a86e25d78348125 --- /dev/null +++ b/robotiq_2f_140/runnables/physics/mujoco.usda @@ -0,0 +1,258 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +def "Robotiq_2F_140" +{ + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "grasp_frame" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_140_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.05729578223448582] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } +} + diff --git a/robotiq_2f_140/runnables/physics/newton.usda b/robotiq_2f_140/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..e97c5e970d23de33580ab61f8c9d9bcdab0c1307 --- /dev/null +++ b/robotiq_2f_140/runnables/physics/newton.usda @@ -0,0 +1,279 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_140" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "left_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" + { + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" + { + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" + { + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" + { + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_inner_knuckle" + { + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "robotiq_base_link" + { + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 7.5 + float newton:armature = 0.1 + float newton:damping = 0.25 + float newton:velocityLimit = 130 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 130 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "right_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_finger_pad_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 1000000 + } + + over "left_inner_knuckle_joint" ( + active = false + ) + { + } + + over "right_inner_knuckle_joint" ( + active = false + ) + { + } +} + diff --git a/robotiq_2f_140/runnables/physics/physx.usda b/robotiq_2f_140/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..d03b2f4dfcc35081d2ac18a36861e9f6ccaeaf1f --- /dev/null +++ b/robotiq_2f_140/runnables/physics/physx.usda @@ -0,0 +1,485 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_140" + endTimeCode = 0 + metersPerUnit = 0.9999999776482582 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Robotiq_2F_140" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "left_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + float physxContactReport:threshold = 0 + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + float physxRigidBody:sleepThreshold = 0 + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + bool physxRigidBody:disableGravity = 1 + + over "right_outer_finger_joint" + { + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11) + } + + over "Finger1" + { + over "Finger1" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + bool physxRigidBody:disableGravity = 1 + + over "Finger2" + { + over "Finger2" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + bool physxRigidBody:disableGravity = 1 + bool physxRigidBody:enableCCD = 1 + + over "Finger4_01" + { + over "Finger4" + { + over "Finger4" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Fingertip_01" + { + over "Fingertip" + { + over "Fingertip" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + int physxRigidBody:solverPositionIterationCount = 32 + + over "Finger3" + { + over "Finger3" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_knuckle_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_finger_joint" ( + active = false + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_pad_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + float physxJoint:maxJointVelocity = 1000000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 250 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "robotiq_base_link" ( + prepend apiSchemas = ["PhysxRigidBodyAPI"] + ) + { + uniform token physics:approximation = "convexHull" + + over "_F_Body_01" + { + over "_F_Body" + { + over "_F_Body" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_2f_140/source_assets/OmniPBR.mdl b/robotiq_2f_140/source_assets/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2937decbf0c38e1175d499a0ad2ca3a311c470a4 --- /dev/null +++ b/robotiq_2f_140/source_assets/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import ::nvidia::core_definitions::file_texture; +import ::nvidia::core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotiq_2f_85/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd38ee0ea97a8f302a286d826d3cfab758a5dcaa --- /dev/null +++ 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For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json b/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..d90457dbbd148314da866a520b9ec342738a186f --- /dev/null +++ b/robotiq_2f_85/.metadata/robotiq_2f_85_benchmark.json @@ -0,0 +1,11074 @@ +{ + "schema_version": "1.0", + "asset": "robotiq_2f_85", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 47.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.967, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 872.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.453, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 47.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.967, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 872.94, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.453, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 131.656, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 33, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.657, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1522.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.406, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 51402, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 51633, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1502, + 0.1501, + 0.1499 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999981, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999027, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 131.656, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 33, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 11, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 11, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 10.657, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1522.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.406, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 51402, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 51633, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1502, + 0.1501, + 0.1499 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999981, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999027, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 8.032, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.835215240131978, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.016, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1016.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.734, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987756040527, + "start": 5.753875674530118e-12, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 29, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.344, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 5, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 211.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235478709870277, + "start": -5.090461127110757e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 152, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.765, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8353769673976723, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "finger_joint", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "direction": "-XZ", + "world_com": [ + -2.12701797873172e-05, + -0.04454435076035029, + 0.05430949818693561 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.156, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 96.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.047, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.8203047513961792, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.562, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.045, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 170.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.812, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "finger_joint", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "runtime_lower": 0.0, + "runtime_upper": 0.8203047513961792, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 95.454, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 95.29700000002049, + "setup_elapsed_wall_seconds": 7.922000000020489, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3264.7029999999795, + "observed_service_seconds_per_nominal_tick": 0.07001201923076923, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 82.84800000023097, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.7510000000474975, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.3300000000745058, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09299999999348074, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.1259999998146668, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.3369999999413267, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 1.75, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8353769673976723, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0017582891574764452, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": 1.9825585617638808e-09, + "observed_start": 1.9825585617638808e-09, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005893069318204929 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.7382742762565613, + "observed_start": 0.7382281422615051, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.005237915600666554 + }, + { + "joint": "finger_joint", + "segment": "to_zero", + "requested_start": 0.08203047513961792, + "observed_start": 0.08173513412475586, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0006524280039454933 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.751, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 194.56, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.75, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.8203047513961792, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.25, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 13.171999999904074, + "setup_elapsed_wall_seconds": 5.296999999904074, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3346.828000000096, + "observed_service_seconds_per_nominal_tick": 0.0062699044585987265, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 0.9180000001797453, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.4679999999934807, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.38799999991897494, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.2190000000409782, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 1.2260000000242144, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.7040000001434237, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.6719999999040738, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 6, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 5, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0017586210591127153, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "finger_joint", + "segment": "to_max", + "requested_start": -0.00013684887380804867, + "observed_start": -0.00013684887380804867, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 2.5562093257904053, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": true, + "estimated_initial_command_step_speed": 0.03284372971393168 + }, + { + "joint": "finger_joint", + "segment": "to_min", + "requested_start": 0.7382742762565613, + "observed_start": 0.7381650805473328, + "ramp_seconds": 1.25, + 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\"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, 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"fall_min_delta_z": 0.05, + "horizontal_drift_max": 0.05, + "pre_load_max_dz": 0.01, + "carrier_translate_tolerance_m": 0.01, + "min_lift_for_eval_m": 0.1, + "jik_max_iterations": 80, + "jik_step_size": 0.05, + "jik_position_tolerance": 0.005, + "jik_rms_tolerance": 0.003, + "jik_contact_force_threshold_n": 0.5, + "max_close_frames": 1200, + "physics_fps": 240.0, + "carrier_merge_rail": true, + "detect_limit_inset_frac": 0.05 + }, + "joints": [ + { + "name": "finger_joint", + "dof_index": 1, + "role": "closure", + "open_target": 0.0, + "closed_target": 0.8203047513961792, + "close_delay_steps": 0, + "unit": "rad", + "identity_resolved": true + } + ], + "joints_omitted": 0, + "object_offset_world_xy_m": [ + 0.0, + 0.0 + ], + "grasp_center_base_m": null, + "approach_pitch_deg": null, + "descent_reference": "fingertips", + "transport_omissions": { + "joints": 0, + "hand_joint_controls": 0, + "hand_close_delays": 0, + "procedure_settings": 0 + } + }, + "unit": null + }, + "grasp_center_initial_z_cube": { + "value": 0.12425000093877314, + "unit": null + }, + "approach_clearance_m_cube": { + "value": 0.08950000062584876, + "unit": null + }, + "spawn_center_z_cube": { + "value": 0.034750000312924384, + "unit": null + }, + "open_joint_actual_cube": { + "value": 0.0003380073176231235, + "unit": null + }, + "open_joint_expected_cube": { + "value": 0.0, + "unit": null + }, + "open_joint_worst_error_cube": { + "value": 0.0003380073176231235, + "unit": null + }, + "measured_separation_after_open_cube": { + "value": 0.0011354664465755126, + "unit": null + }, + "descent_total_cube": { + "value": 0.1055217657667144, + "unit": null + }, + "descent_contacted_cube": { + "value": false, + "unit": null + }, + "contact_backoff_m_cube": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_cube": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_cube": { + "value": true, + "unit": null + }, + "close_joint_actual_cube_finger_joint": { + "value": 0.04092496261000633, + "unit": null + }, + "close_joint_fraction_cube": { + "value": 0.049889949485664956, + "unit": null + }, + "object_lateral_drift_after_close_cube": { + "value": 2.8531348629013166e-06, + "unit": null + }, + "object_z_drift_from_spawn_after_close_cube": { + "value": -0.005000450387597083, + "unit": null + }, + "grip_confirmed_contact_cube": { + "value": true, + "unit": null + }, + "grip_object_retained_cube": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_cube": { + "value": 0.015554184094071388, + "unit": null + }, + "horizontal_drift_m_cube": { + "value": 0.01968985752423597, + "unit": null + }, + "pre_load_dz_m_cube": { + "value": 3.4086406230926514e-07, + "unit": null + }, + "shake_object_min_z_cube": { + "value": 0.19245964288711548, + "unit": null + }, + "shake_max_relative_slip_m_cube": { + "value": 0.0004027634859085083, + "unit": null + }, + "shake_passed_cube": { + "value": true, + "unit": null + }, + "drop_pre_z_cube": { + "value": 0.2124602049589157, + "unit": null + }, + "drop_post_z_cube": { + "value": 0.029749996960163116, + "unit": null + }, + "drop_dz_cube": { + "value": 0.1827102079987526, + "unit": null + }, + "drop_passed_cube": { + "value": true, + "unit": null + }, + "winning_shape": { + "value": "cube", + "unit": null + }, + "motion_history_gripper_cube": { + "value": { + "schema_version": 1, + "name": "gripper_cube", + "channels": { + "object_x": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_y": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "object_z": { + "unit": "stage_length", + "source": "existing runtime object pose accessor" + }, + "carrier_x": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_y": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 493, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "rad", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "rad", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "rad", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_000", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_cube_contacts.json", + "csv": "motion_history/gripper_cube_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 55.219, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.08500000089406967, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.25, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.764, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 129.79, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + 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angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 406, + "json": "motion_history/gripper_sphere_joint_000.json", + "csv": "motion_history/gripper_sphere_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/right_inner_finger", + "/World/AssetRoot/Asset/left_inner_finger" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for 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"source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "finger_joint", + "authored_joint_name": "finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": 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reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_joint", + "authored_joint_name": "right_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/right_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/right_outer_finger", + "phase": "batched_drive_probe", + "physics_fps": 240, + 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"deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_knuckle_joint", + "authored_joint_name": "right_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "reference_frame": 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+ "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_left_inner_finger_joint_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel": { + "value": 97.9, + "unit": null + }, + "jm_joint_left_inner_finger_joint_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 6, + "unit": null + }, + "jm_joints_passed": { + "value": 6, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_outer_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_right_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_knuckle_joint_status": { + "value": "passed", + "unit": null + }, + "jm_joint_left_inner_finger_joint_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "finger_joint", + "authored_joint_name": "finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_outer_knuckle_joint", + "authored_joint_name": "right_outer_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_outer_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_joint", + "authored_joint_name": "right_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/right_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/right_outer_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "right_inner_finger_knuckle_joint", + "authored_joint_name": "right_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/right_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/right_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_inner_finger_knuckle_joint", + "authored_joint_name": "left_inner_finger_knuckle_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", + "parent_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "reference_frame": "/World/AssetRoot/Asset/left_inner_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_inner_finger_joint", + "authored_joint_name": "left_inner_finger_joint", + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", + "parent_body_path": "/World/AssetRoot/Asset/left_outer_finger", + "reference_frame": "/World/AssetRoot/Asset/left_outer_finger", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.331, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 177.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.840611, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.035709, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.331, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 177.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.840611, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.035709, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 47.078, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.405, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1681.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 16, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, 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ticks", + "joint_name": "right_inner_finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_joint", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_002.json", + "csv": "motion_history/mim_follower_002.csv" + }, + "unit": null + }, + "motion_history_mim_reference_003": { + "value": { + "schema_version": 1, + "name": "mim_reference_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "right_inner_finger_knuckle_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_003.json", + "csv": "motion_history/mim_reference_003.csv" + }, + "unit": null + }, + "motion_history_mim_follower_003": { + "value": { + "schema_version": 1, + "name": "mim_follower_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "right_inner_finger_knuckle_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "right_inner_finger_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/right_inner_finger_knuckle_joint", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_003.json", + "csv": "motion_history/mim_follower_003.csv" + }, + "unit": null + }, + "motion_history_mim_reference_004": { + "value": { + "schema_version": 1, + "name": "mim_reference_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_knuckle_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_004.json", + "csv": "motion_history/mim_reference_004.csv" + }, + "unit": null + }, + "motion_history_mim_follower_004": { + "value": { + "schema_version": 1, + "name": "mim_follower_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_knuckle_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "left_inner_finger_knuckle_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_knuckle_joint", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_004.json", + "csv": "motion_history/mim_follower_004.csv" + }, + "unit": null + }, + "motion_history_mim_reference_005": { + "value": { + "schema_version": 1, + "name": "mim_reference_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_005.json", + "csv": "motion_history/mim_reference_005.csv" + }, + "unit": null + }, + "motion_history_mim_follower_005": { + "value": { + "schema_version": 1, + "name": "mim_follower_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "finger_joint", + "follower_joint_name": "left_inner_finger_joint", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "left_inner_finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/left_inner_finger_joint", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_005.json", + "csv": "motion_history/mim_follower_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.047, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 5.625, + "message": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 6, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/6 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 6\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 5.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.375, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000439, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001073, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 5.938, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.375, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000439, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.001073, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.017, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 803.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 16, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 33, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 51497, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.017, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 803.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 16, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 33, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 51497, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 122.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1308.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 122.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 26.172, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1308.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 2.2, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.922, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1671.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.223681, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.922, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.343, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1671.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.223681, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1025.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "universal_surface_materials_total": { + "value": 16, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 33, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 51305, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 5.125, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1025.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 16, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 16, + "unit": null + }, + "universal_surface_materials_total": { + "value": 16, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 33, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 51305, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 17.234, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8353769673976723, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.983, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 598.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.921, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.017473715642326092, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.765, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.518, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 151.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.765, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.08648936211071993, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 171, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.093, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8353769673976723, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.906, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 906.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.407, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 3.0, + "damping": 0.10000000149011612, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 10, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 7.0, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 5, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.8352151902854996, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.484, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "finger_joint", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Joints/finger_joint", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6.659999847412109, + "damping": 0.0, + "max_force": 26.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 47, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json b/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..352494693943be4464d68e7ed173444721802b16 --- /dev/null +++ b/robotiq_2f_85/.metadata/robotiq_2f_85_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/2F_85.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/robotiq_2f_85/.thumbs/256x256/2F_85.usda.png b/robotiq_2f_85/.thumbs/256x256/2F_85.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..b8881d63a258298ba9ddd53c2bec4bb43966e546 --- /dev/null +++ b/robotiq_2f_85/.thumbs/256x256/2F_85.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:045162c47b61a0ce1b97f63aa58653d49a3a9e6d3fe61e5c3c1e21cb05e075b3 +size 47902 diff --git a/robotiq_2f_85/2F_85.usda b/robotiq_2f_85/2F_85.usda new file mode 100644 index 0000000000000000000000000000000000000000..682f181647103578fb556d54315a681cb23c5072 --- /dev/null +++ b/robotiq_2f_85/2F_85.usda @@ -0,0 +1,1619 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/Robotiq_2F_85" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.10_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_2F_85.2026.10.30_00" + ] + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075, 0.15448326, 0.15177661) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_2F_85" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.2617397094145417 + string qcode = "Q1340324" + int rigid_body_count = 9 + string source_file = "Robotiq/2F-85/Robotiq_2F_85.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + kind = "component" + prepend references = [ + @./payloads/Physics/Physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "left_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_outer_finger" + { + over "visuals" ( + instanceable = false + ) + { + } + } + + over "right_inner_knuckle" + { + over "visuals" ( + instanceable = false + ) + { + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/robotiq_2f_85/com.nvidia.simready.packaging.json b/robotiq_2f_85/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..70204b1cde8c0ed86a760b0acdd81692e31259f5 --- /dev/null +++ b/robotiq_2f_85/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_2f_85.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "e411d63c3389d38f5dac482f9131978b0feb9ea7021e1e472a194437bd8bc053" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "66fc4f93d05ca057a3f10c65db83a462c7a860a382564636c4909f99d8421a44" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "7d6135a665d2135f3a33193ad21a1a9853b8edb6ae9e4947b75825fcd7b26073" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_2f_85_benchmark.json", + "hash": { + "sha256": "a25567b33e5e8e1771c415b735dcadb763815d61218965820a8830189a674d25" + } + }, + { + "name": "robotiq_2f_85_validation.json", + "hash": { + "sha256": "a49babdccbe1a711cc80f1048f56e8bbf960ad5e04435489dfb61b925a3dd8e2" + } + } + ], + "content_hash": { + "sha256": "b5458a5308da874fc30caf330a4972e9522191a818fb859d3a23622bc3797220" + }, + "package_hash": { + "sha256": "86607f080f0760f98a6a8fecf25ba00cdde44686115698d3e489ec74cfec4bdc" + } +} diff --git a/robotiq_2f_85/materials/mdl/OmniPBR.mdl b/robotiq_2f_85/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_2f_85/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_85/materials/mdl/OmniPBRBase.mdl b/robotiq_2f_85/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_2f_85/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/robotiq_2f_85/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_2f_85/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_2f_85/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_2f_85/materials/mdl/aux_definitions.mdl b/robotiq_2f_85/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_2f_85/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/robotiq_2f_85/materials/mdl/core_definitions.mdl b/robotiq_2f_85/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_2f_85/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/robotiq_2f_85/materials/mdl/license.txt b/robotiq_2f_85/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_2f_85/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/robotiq_2f_85/materials/mdl/support_definitions.mdl b/robotiq_2f_85/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_2f_85/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/robotiq_2f_85/payloads/Physics/None.usda b/robotiq_2f_85/payloads/Physics/None.usda new file mode 100644 index 0000000000000000000000000000000000000000..1f1b920da280a8aa1b8a183b3b75ebd0aa614b67 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/None.usda @@ -0,0 +1,27 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def "Robotiq_2F_85" ( + customData = { + string[] variantPrimPaths = ["Robotiq_2F_85/Joints"] + } +) +{ + def "Robotiq_2F_85" + { + def "Joints" ( + active = false + ) + { + } + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physics.usda b/robotiq_2f_85/payloads/Physics/Physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..36bcb3538e9862bbd599b1ab90bd595a23d99a8f --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physics.usda @@ -0,0 +1,455 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.043512285 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.000005531254, -0.06595047, 0.06895309) + float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907) + float physics:mass = 0.039179202 + quatf physics:principalAxes = (0.76604444, -0.64278764, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (1.2590098e-8, -0.05424156, 0.11390199) + float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333) + float physics:mass = 0.039254718 + quatf physics:principalAxes = (0.9914449, -0.13052619, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-2.005321e-10, -0.03222066, 0.083420366) + float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488) + float physics:mass = 0.027306942 + quatf physics:principalAxes = (0.9063078, -0.42261827, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.0033728504 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_outer_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.000005531254, 0.06595047, 0.06895309) + float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907) + float physics:mass = 0.039179202 + quatf physics:principalAxes = (0.76604444, 0.64278764, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_inner_finger" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-1.2590098e-8, 0.05424156, 0.11390199) + float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333) + float physics:mass = 0.039254718 + quatf physics:principalAxes = (0.9914449, 0.13052619, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = false + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (2.005321e-10, 0.03222066, 0.083420366) + float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488) + float physics:mass = 0.027306942 + quatf physics:principalAxes = (0.9063078, 0.42261827, 0, 0) + + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + } + + over "Joints" + { + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + } + + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 3 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.0306, 0.05466) + point3f physics:localPos1 = (0, -0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.0306, 0.05466) + point3f physics:localPos1 = (0, 0.0306, 0.05466) + quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5) + quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 47 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "right_outer_finger_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.06213, 0.0509) + point3f physics:localPos1 = (0, 0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.06776, 0.09809) + point3f physics:localPos1 = (0, 0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0.04986, 0.1046) + point3f physics:localPos1 = (0, 0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "left_outer_finger_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.06213, 0.0509) + point3f physics:localPos1 = (0, -0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + } + + def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.04986, 0.1046) + point3f physics:localPos1 = (0, -0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 0 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0, -0.06776, 0.09809) + point3f physics:localPos1 = (0, -0.06776, 0.09809) + quatf physics:localRot0 = (0.5, -0.5, -0.5, 0.5) + quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5) + float physics:lowerLimit = -180 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physx_Loop.usda b/robotiq_2f_85/payloads/Physics/Physx_Loop.usda new file mode 100644 index 0000000000000000000000000000000000000000..415bb3a4438000ec53210fbf0b6d7b576137a635 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physx_Loop.usda @@ -0,0 +1,246 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./Physics.usda@ + ] + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + + over "Joints" + { + def PhysicsRevoluteJoint "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.0002 + float drive:angular:physics:maxForce = 16.5 + float drive:angular:physics:stiffness = 0.17 + float drive:angular:physics:targetPosition = 0 + float drive:angular:physics:targetVelocity = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.0306, 0.05466) + point3f physics:localPos1 = (0, -0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5) + quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float physxJoint:maxJointVelocity = 130 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( + delete apiSchemas = ["PhysicsDriveAPI:angular"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 5000 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.0306, 0.05466) + point3f physics:localPos1 = (0, 0.0306, 0.05466) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 75 + float physxJoint:maxJointVelocity = 130 + float physxMimicJoint:rotZ:dampingRatio = 0.01 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 5000 + custom rel physxMimicJoint:rotZ:referenceJoint + prepend rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.06213, 0.0509) + point3f physics:localPos1 = (0, 0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 0.5 + float drive:angular:physics:stiffness = 0.0002 + float drive:angular:physics:targetPosition = 45 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.06776, 0.09809) + point3f physics:localPos1 = (0, 0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (0, 0.0127, 0.06118) + point3f physics:localPos1 = (0, 0.0127, 0.06118) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + } + + def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, 0.04986, 0.1046) + point3f physics:localPos1 = (0, 0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_outer_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.06213, 0.0509) + point3f physics:localPos1 = (0, -0.06213, 0.0509) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = 0 + float physics:upperLimit = 180 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.04986, 0.1046) + point3f physics:localPos1 = (0, -0.04986, 0.1046) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.00001 + float drive:angular:physics:maxForce = 0.5 + float drive:angular:physics:stiffness = 0.0002 + float drive:angular:physics:targetPosition = 45 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + point3f physics:localPos0 = (0, -0.06776, 0.09809) + point3f physics:localPos1 = (0, -0.06776, 0.09809) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + token physics:axis = "Z" + custom rel physics:body0 + prepend rel physics:body0 = + custom rel physics:body1 + prepend rel physics:body1 = + bool physics:excludeFromArticulation = 1 + point3f physics:localPos0 = (0, -0.0127, 0.06118) + point3f physics:localPos1 = (0, -0.0127, 0.06118) + quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5) + quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5) + float physics:lowerLimit = -inf + float physics:upperLimit = inf + } + } +} + diff --git a/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda b/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda new file mode 100644 index 0000000000000000000000000000000000000000..c656da3976a2b3d7c9171dcd7082e555981971c0 --- /dev/null +++ b/robotiq_2f_85/payloads/Physics/Physx_Mimic.usda @@ -0,0 +1,89 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./Physics.usda@ + ] + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 64 + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:armature = 0.0001 + float physxJoint:maxJointVelocity = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:armature = 0.0001 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotZ:dampingRatio = 0 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] + ) + { + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 0 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + } +} + diff --git a/robotiq_2f_85/payloads/base.usda b/robotiq_2f_85/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..abadb5fc6ec7b376191850d4aacea6a510dd1800 --- /dev/null +++ b/robotiq_2f_85/payloads/base.usda @@ -0,0 +1,330 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + customData = { + string[] variantPrimPaths = ["."] + } + kind = "assembly" +) +{ + uniform token[] xformOpOrder = [] + + def Xform "base_link" ( + kind = "group" + ) + { + def Xform "visuals" ( + apiSchemas = None + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0, 0.13) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)] + point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "left_outer_knuckle" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_outer_finger" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_inner_finger" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "left_inner_knuckle" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_outer_knuckle" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_outer_finger" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_inner_finger" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "right_inner_knuckle" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + kind = "subcomponent" + references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Scope "Joints" + { + } + + def Material "fingertip_material" ( + active = true + ) + { + } +} + +def Scope "VisualMaterials" +{ +} + diff --git a/robotiq_2f_85/payloads/geometries.usd b/robotiq_2f_85/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..2bc7b14605ceef304e3bbe489478fd48b030ab36 --- /dev/null +++ b/robotiq_2f_85/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:219d4c54f1b914cce9a8d5cb2ded86ec0c5faae274c1f007cacd0458d7cf7432 +size 3990584 diff --git a/robotiq_2f_85/payloads/instances.usda b/robotiq_2f_85/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..a0c512120a324db4793a207673ba8b6cbbfa3120 --- /dev/null +++ b/robotiq_2f_85/payloads/instances.usda @@ -0,0 +1,1388 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "Robotiq_2F_85" ( + apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "base_link" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_basestep" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766] + + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Chateau_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gravel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Silver_Rust" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gallery" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Blue_Ribbon" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Dawn" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "White" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Mystic" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Chateau_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gravel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Silver_Rust" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gallery" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Blue_Ribbon" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Dawn" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "White" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Mystic" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "left_outer_knuckle" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "right_outer_knuckle" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Pumice" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } + + def Xform "left_outer_finger" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "right_outer_finger" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = None + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } + + def Xform "left_inner_finger" + { + def Xform "visuals" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Celeste" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064] + bool physics:collisionEnabled = 1 + + over "Nobel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "right_inner_finger" + { + def Xform "visuals" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354] + bool physics:collisionEnabled = 1 + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Stack" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Periwinkle_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Celeste" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Stack" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Periwinkle_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend references = @./geometries.usd@ + ) + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064] + bool physics:collisionEnabled = 1 + + over "Nobel" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Rangoon_Green" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Rangoon_Green" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "left_inner_knuckle" + { + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + } + } + } + + def Xform "right_inner_knuckle" ( + apiSchemas = ["PhysicsRigidBodyAPI"] + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" + { + quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + quatd xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["MaterialBindingAPI"] + prepend references = @./geometries.usd@ + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704] + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./base.usda@ + ) + { + } + } + } + } + } + } +} + diff --git a/robotiq_2f_85/payloads/materials.usda b/robotiq_2f_85/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..55a6257f4ef4cabd532e99baab4b462bc3ada3ce --- /dev/null +++ b/robotiq_2f_85/payloads/materials.usda @@ -0,0 +1,1117 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.039215688, 0.039215688, 0.039215688) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Stack" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5294118, 0.54901963, 0.54901963) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Chateau_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["emissive"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.28627452, 0.6627451, 0.32941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gravel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.29803923, 0.29803923, 0.29803923) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Silver_Rust" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "steel" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7764706, 0.75686276, 0.7372549) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gallery" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.9372549, 0.9372549, 0.9372549) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Blue_Ribbon" + { + custom token[] omni:simready:nonvisual:attributes = ["emissive"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.13333334, 0.33333334, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Dawn" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.64705884, 0.61960787, 0.5882353) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "White" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.49411765, 0.49411765, 0.49411765) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Mystic" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8980392, 0.91764706, 0.92941177) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Pumice" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.78431374, 0.78431374, 0.78431374) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Periwinkle_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7921569, 0.81960785, 0.93333334) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Celeste" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8, 0.80784315, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Rangoon_Green" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.11764706, 0.11764706, 0.11764706) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Nobel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + doc = '''Represents the universal "displacement" output terminal of a \r + material.''' + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + doc = '''Represents the universal "surface" output terminal of a\r + material.''' + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + doc = '''Represents the universal "volume" output terminal of a\r + material.''' + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7019608, 0.7019608, 0.7019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/robotiq_2f_85/payloads/robot.usda b/robotiq_2f_85/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..5b3d590614d696afff959643761ef6f6aab600e3 --- /dev/null +++ b/robotiq_2f_85/payloads/robot.usda @@ -0,0 +1,141 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "left_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_outer_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_outer_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_inner_finger" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_inner_knuckle" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "Joints" + { + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/mujoco.usda b/robotiq_2f_85/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d8df34088498d1069d387805eb65228103656a5b --- /dev/null +++ b/robotiq_2f_85/runnables/physics/mujoco.usda @@ -0,0 +1,288 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +def "Robotiq_2F_85" +{ + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -171.88733853924697, -0.011459155613133837] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 26 + double mjc:forceRange:min = -26 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/newton.usda b/robotiq_2f_85/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..511c5cf904bf2fe85e0d8c8b1646f5e2c0cf73e5 --- /dev/null +++ b/robotiq_2f_85/runnables/physics/newton.usda @@ -0,0 +1,299 @@ +#usda 1.0 +( + defaultPrim = "Robotiq_2F_85" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + } + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 26 + float drive:angular:physics:stiffness = 6.66 + float newton:armature = 0.1 + float newton:damping = 0.222 + float newton:velocityLimit = 146.46 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:armature = 0.1 + float newton:damping = 0.01 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 10000 + } + } +} + diff --git a/robotiq_2f_85/runnables/physics/physx.usda b/robotiq_2f_85/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..1f77346f2d3436d058d5f842fc3f8829d5782538 --- /dev/null +++ b/robotiq_2f_85/runnables/physics/physx.usda @@ -0,0 +1,323 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "Robotiq_2F_85" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "Robotiq_2F_85" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 64 + + over "Joints" + { + over "finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 146.46 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_outer_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1 + float physxMimicJoint:rotZ:naturalFrequency = 500 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "right_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_knuckle_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "left_inner_finger_joint" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float physxJoint:armature = 0.02 + float physxJoint:maxJointVelocity = 10000 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 500 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "base_link" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_basestep_01" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" + { + over "Defeatured_2F_85_PAD_OPEN_basestep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step_01" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" + { + over "Defeatured_2F_85_PAD_OPEN_Finger1step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_outer_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" + { + over "Defeatured_2F_85_PAD_OPEN_finger2step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_finger" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" + { + over "Defeatured_2F_85_PAD_OPEN_finger4step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" + { + over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "left_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "right_inner_knuckle" + { + over "visuals" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step_01" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" + { + over "Defeatured_2F_85_PAD_OPEN_finger3step" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"] + ) + { + token physics:approximation = "convexHull" + } + } + } + } + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..037cb929311cd3777815518f78b76d0f7c80e77b --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:39", + "assets": [ + { + "asset": "Robotiq_Hand_E_base.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e85c7a159a629128562f54e2a7bd0bafb052ed --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_benchmark.json @@ -0,0 +1,7282 @@ +{ + "schema_version": "1.0", + "asset": "robotiq_hand_e_robotiq_hand_e_base", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 101.563, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 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"value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 113.641, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 23, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 22, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 22, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 560.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.468, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 47788, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 48027, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1435, + 0.1434, + 0.1433 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999037, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 113.641, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 23, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 22, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 22, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 22, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.923, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 560.43, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.468, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 47788, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 48027, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1435, + 0.1434, + 0.1433 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.999037, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.672, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.937, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1937.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.02500000037252903, + "start": 8.176570531759353e-07, + "tolerance": 0.0012499591357737927 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 8.422, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 359.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.657, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.02500000037252903, + "start": 6.379665933309298e-07, + "tolerance": 0.001249968120296785 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 84, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 11.609, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Slider_1", + "body_path": "/World/AssetRoot/Asset/left_gripper", + "direction": "-XZ", + "world_com": [ + 0.007599195385163405, + 0.0204722434550373, + 0.12732406472155094 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.219, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 268.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.64, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Slider_1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_gripper", + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.547, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.719, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 59.92, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.984, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Slider_1", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/left_gripper", + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 19.343, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 19.25, + "setup_elapsed_wall_seconds": 1.0, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3340.75, + "observed_service_seconds_per_nominal_tick": 0.014623397435897436, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 12.811000000336207, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 3.593000000109896, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.3589999998221174, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.10999999998603016, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.17399999988265336, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.2639999999664724, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 0.6870000000344589, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0008499376640170289, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Slider_1", + "segment": "to_max", + "requested_start": 4.824114512302913e-05, + "observed_start": 4.824114512302913e-05, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0001792149311356225 + }, + { + "joint": "Slider_1", + "segment": "to_min", + "requested_start": 0.022500000335276125, + "observed_start": 0.022548263892531395, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016002969726286453 + }, + { + "joint": "Slider_1", + "segment": "to_zero", + "requested_start": 0.002500000037252903, + "observed_start": 0.002548256190493703, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.034074719169804e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.593, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 399.22, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.375, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 10.265999999945052, + "setup_elapsed_wall_seconds": 4.718999999924563, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3349.734000000055, + "observed_service_seconds_per_nominal_tick": 0.004416401273901663, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 0.6410000001778826, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 0.5950000000884756, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.32899999991059303, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09200000006239861, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.890999999945052, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 1.891999999876134, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.7970000000204891, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0008499375591315329, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Slider_1", + "segment": "to_max", + "requested_start": 8.934166739749116e-10, + "observed_start": 8.934166739749116e-10, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00017959999554479814 + }, + { + "joint": "Slider_1", + "segment": "to_min", + "requested_start": 0.022500000335276125, + "observed_start": 0.02249545231461525, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0001596081435117913 + }, + { + "joint": "Slider_1", + "segment": "to_zero", + "requested_start": 0.002500000037252903, + "observed_start": 0.0025040428154170513, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 1.9987826206657733e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.595, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 66.11, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.797, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.02500000037252903, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.15000000596046448, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 39.89, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05000000074505806, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.425, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.626, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 125.03, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_1": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "cube", + "dof_index": 1, + "joint_name": "Slider_1", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.02500000037252903, + "inset_fraction": 0.05, + "original_position": 8.20444320120961e-12, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/base_link", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/left_gripper", + "/World/AssetRoot/Asset/right_gripper" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 8.20444320120961e-12, + "commanded_target": 0.0012500000186264515, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.5897811400979784e-07, + "achieved": 2.820585507379292e-07 + }, + { + "step": 4, + "commanded": 4.074082312485302e-06, + "achieved": 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inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 406.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 35.422, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 787.16, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.203, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_1_trans_pct": { + "value": 30.18, + "unit": null + }, + "jm_joint_Slider_1_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_1_translation_stage_units": { + "value": 0.02500039339065623, + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_stage_units": { + "value": 0.0828439752175551, + "unit": null + }, + "jm_joint_Slider_1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Slider_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_2_trans_pct": { + "value": 30.18, + "unit": null + }, + "jm_joint_Slider_2_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_2_translation_stage_units": { + "value": 0.02500039339065677, + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_stage_units": { + "value": 0.08284397504832558, + "unit": null + }, + "jm_joint_Slider_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Slider_2_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 84.657, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.799, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 217.76, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.156, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_1_trans_pct": { + "value": 30.08, + "unit": null + }, + "jm_joint_Slider_1_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_1_translation_stage_units": { + "value": 0.02491849660873413, + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_stage_units": { + "value": 0.08284397129399139, + "unit": null + }, + "jm_joint_Slider_1_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_1_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_1_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_1_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Slider_1_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Slider_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Slider_2_trans_pct": { + "value": 30.11, + "unit": null + }, + "jm_joint_Slider_2_bbox_m": { + "value": 0.0828, + "unit": null + }, + "jm_joint_Slider_2_translation_stage_units": { + "value": 0.024940937757492065, + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_stage_units": { + "value": 0.08284397129399139, + "unit": null + }, + "jm_joint_Slider_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Slider_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Slider_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Slider_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Slider_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Slider_1_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Slider_2_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_1", + "authored_joint_name": "Slider_1", + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "child_body_path": "/World/AssetRoot/Asset/left_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Slider_2", + "authored_joint_name": "Slider_2", + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "child_body_path": "/World/AssetRoot/Asset/right_gripper", + "parent_body_path": "/World/AssetRoot/Asset/base_link", + "reference_frame": "/World/AssetRoot/Asset/base_link", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 71.719, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 36.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1209.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 1.0, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.836818, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.052917, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 71.719, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 36.282, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1209.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 1.0, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.836818, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.052917, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.062, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1812.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 5, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 47796, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 54.859, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.062, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1812.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 5, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 47796, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.844, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1113.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.578, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_Slider_2_max_error_rad": { + "value": 5.277060874586681e-05, + "unit": null + }, + "mim_pair_Slider_2_mean_error_rad": { + "value": 2.697150109069272e-06, + "unit": null + }, + "mim_pair_Slider_2_ref_swept_rad": { + "value": 0.01990050752647221, + "unit": null + }, + "mim_pair_Slider_2_follower_observed_rad": { + "value": 0.019900918705388904, + "unit": null + }, + "mim_pair_Slider_2_follower_expected_rad": { + "value": 0.01990050752647221, + "unit": null + }, + "mim_pair_Slider_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_Slider_2_motion_ratio": { + "value": 1.0000206617301668, + "unit": null + }, + "mim_pair_Slider_2_gear_ratio_error": { + "value": 2.066173016679329e-05, + "unit": null + }, + "mim_pair_Slider_2_abs_formula_max_error_rad": { + "value": 5.193985998630524e-05, + "unit": null + }, + "mim_pair_Slider_2_rest_residual_rad": { + "value": 8.307487595615726e-07, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Slider_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.672, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.624, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 156.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.485, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_Slider_2_max_error_rad": { + "value": 1.8512322023545025e-05, + "unit": null + }, + "mim_pair_Slider_2_mean_error_rad": { + "value": 3.3918977364137217e-06, + "unit": null + }, + "mim_pair_Slider_2_ref_swept_rad": { + "value": 0.02249425312038511, + "unit": null + }, + "mim_pair_Slider_2_follower_observed_rad": { + "value": 0.02248730493738549, + "unit": null + }, + "mim_pair_Slider_2_follower_expected_rad": { + "value": 0.02249425312038511, + "unit": null + }, + "mim_pair_Slider_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_Slider_2_motion_ratio": { + "value": 0.999691112971725, + "unit": null + }, + "mim_pair_Slider_2_gear_ratio_error": { + "value": 0.0003088870282750289, + "unit": null + }, + "mim_pair_Slider_2_abs_formula_max_error_rad": { + "value": 1.684902235865593e-05, + "unit": null + }, + "mim_pair_Slider_2_rest_residual_rad": { + "value": 1.6632996648890952e-06, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": 0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Slider_1", + "follower_joint_name": "Slider_2", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": 0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Slider_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_2", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 0.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 1.047, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 6.235, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.047, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 332.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.484, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.00027, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000825, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.047, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.656, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 332.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.484, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.00027, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000825, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 52.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2106.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 5, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47510, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 52.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 10.531, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2106.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 5, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47510, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 150.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1530.45, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -150.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 150.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.609, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1530.45, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -150.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.812, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.968, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1984.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.208381, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.812, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.968, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1984.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.208381, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 46.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.611, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 922.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "universal_surface_materials_total": { + "value": 5, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 47371, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 46.204, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 4.611, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 922.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 5, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 5, + "unit": null + }, + "universal_surface_materials_total": { + "value": 5, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 23, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 47371, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.171, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.64, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 64.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.656, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.002765060679219497, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.984, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.984, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 98.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.0013601601360566419, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 4.454, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.43903946173342545, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.703, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 703.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.437, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 40.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.344, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.4390394617334254, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.359, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 359.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Slider_1", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/Slider_1", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 45000.0, + "damping": 0.0, + "max_force": 185.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 20, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..4a686e43cc52168ff3e9a23131d3b4676b65e02f --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.metadata/robotiq_hand_e_robotiq_hand_e_base_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/Robotiq_Hand_E_base.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png b/robotiq_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..f5090ac4f07effc1541afdceb481d456690fb1d3 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/.thumbs/256x256/Robotiq_Hand_E_base.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5335ad10d9c597da127c50bf962c60a9cc4b65cd5002ce02bee7b2045441a51f +size 48309 diff --git a/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda b/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda new file mode 100644 index 0000000000000000000000000000000000000000..29e258aad7a597516a7a0fc56154ddc592c26346 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/Robotiq_Hand_E_base.usda @@ -0,0 +1,1825 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/RobotIq_Hand_E_base" + string variantSetName = "PhysX" + } + } + } + string[] revision_of = [ + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.2026.10.13_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.2026.10.22_00", + "simready.hf.Robotiq-Official.simready-assets.Robotiq_Hand_E.2026.10.30_00" + ] + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.075, 0.1511, 0.075) + string asset_license = "CC-BY-4.0" + string asset_name = "Robotiq_Hand_E_base" + string asset_type = "robot" + string author = "Robotiq" + string category = "robot end effector" + double mass = 0.9344182908535004 + string qcode = "Q1340324" + int rigid_body_count = 3 + string source_file = "Robotiq/Hand-E/Robotiq_Hand_E_base/Robotiq_Hand_E_base.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "RobotIq_Hand_E_base" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" + { + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" + { + } + } + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json b/robotiq_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..3258593349d4fdb60b1dd1480317f1f28e50c382 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_hand_e_robotiq_hand_e_base.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "cb21049b27f28aedb838408da6fef35483d67f2bd223a2f67952b65305544c36" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "46579719745fec0c5197427a4dd482025749fb7625c90b3070b1a95a474d755b" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "3d733489877b998e5f346ccfe16a34cc7ad2c2b143943a415a153a3f0b639783" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "robotiq_hand_e_robotiq_hand_e_base_benchmark.json", + "hash": { + "sha256": "7756199b2c5b5c803b4ae527806a2b61179ca216ab2db9fe6b453decdc397420" + } + }, + { + "name": "robotiq_hand_e_robotiq_hand_e_base_validation.json", + "hash": { + "sha256": "e3bbc38fa2153eee500e2cdd7b7196fedfed38b8a454899e5fd26c2624bb24af" + } + } + ], + "content_hash": { + "sha256": "ef17954c417b4915bba4a88c901ea837651c25a341b60643e6f685d5e826383d" + }, + "package_hash": { + "sha256": "c61ca81eb9b6057a27ac2f033acc72422ca74f0be382eb3810ffaf0da2402527" + } +} diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBRBase.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR_ClearCoat.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/aux_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/core_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/license.txt b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/support_definitions.mdl b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..f44cfb6e830ec3cd55620479ce6ebe4229ee4ae6 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/mujoco.usda @@ -0,0 +1,368 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" +{ + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Looks" + { + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + } + + over "Slider_1" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "Slider_2" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Looks" + { + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + } + + over "VisualMaterials" + { + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..4511f7a47210e5c7b0783dcecd62e06ddaf1a820 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physics.usda @@ -0,0 +1,470 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.85817784 ( + customData = { + dictionary agentfix = { + string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" + string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" + } + } + ) + + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.0663, 0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (0.5000001, 0.5000001, 0.4999999, -0.4999999) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.07357015, -0.027) + float3 physics:diagonalInertia = (5.1861488e-8, 5.775649e-7, 5.775649e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (0.45801094, 0.5387263, 0.5387263, 0.45801094) + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.0663, 0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (-0.4999999, -0.4999999, -0.5000001, 0.5000001) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.025980761, 0.0031057983, -0.015) + float3 physics:diagonalInertia = (1.6503256e-8, 1.1892183e-7, 1.1892183e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (0.69328606, -0.13912012, -0.13912012, 0.69328606) + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.0663, -0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (-0.4999999, 0.4999999, 0.5000001, 0.5000001) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.016, -0.07357015, 0.027) + float3 physics:diagonalInertia = (5.1861374e-8, 5.775638e-7, 5.775638e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (0.48243257, 0.5169708, 0.5169708, 0.48243257) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.025980761, 0.0031057983, 0.015) + float3 physics:diagonalInertia = (1.6503314e-8, 1.1892231e-7, 1.1892231e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (0.69378746, -0.13659786, -0.13659784, 0.69378746) + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.0663, -0.027) + float3 physics:diagonalInertia = (2.6222209e-9, 2.6222213e-9, 5.1812314e-9) + float physics:mass = 0.00037840483 + quatf physics:principalAxes = (0.5000001, -0.5000001, -0.4999999, -0.4999999) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.025980761, 0.0031057983, -0.015) + float3 physics:diagonalInertia = (1.6503037e-8, 1.18921186e-7, 1.18921186e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.69105643, -0.14980318, 0.14980318, 0.69105643) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.07357015, -0.027) + float3 physics:diagonalInertia = (5.1860695e-8, 5.7755943e-7, 5.7755943e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (-0.52280253, -0.47610658, 0.47610658, 0.52280253) + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.016, -0.07357015, 0.027) + float3 physics:diagonalInertia = (5.18607e-8, 5.7755943e-7, 5.7755943e-7) + float physics:mass = 0.005875234 + quatf physics:principalAxes = (-0.5342876, -0.46318117, 0.46318117, 0.5342876) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.025980761, 0.0031057983, 0.015) + float3 physics:diagonalInertia = (1.6503037e-8, 1.18921186e-7, 1.18921186e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.6910564, -0.14980334, 0.14980336, 0.69105643) + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-2.7827291e-12, 0.0038022655, 4.782317e-14) + float3 physics:diagonalInertia = (0.000041631298, 0.00005247869, 0.000085178726) + float physics:mass = 0.11536145 + quatf physics:principalAxes = (-0.50000894, 0.50002146, 0.49998632, 0.49998334) + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (3.55889e-16, 0.0031057983, -0.03) + float3 physics:diagonalInertia = (1.6502979e-8, 1.1892072e-7, 1.1892072e-7) + float physics:mass = 0.0026941167 + quatf physics:principalAxes = (-0.6975505, -0.115859136, 0.11585913, 0.6975505) + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (1.518693e-7, -0.046913337, 0.00008493578) + float3 physics:diagonalInertia = (0.0006478268, 0.0009871286, 0.0010083623) + float physics:mass = 0.7038173 + quatf physics:principalAxes = (-0.49193767, -0.5076713, 0.49205962, 0.50807923) + } + } + } + } + + over "left_gripper" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.038120225 ( + customData = { + dictionary agentfix = { + string massConfidence = "source component aggregate" + string massMethod = "sum of positive source component masses" + } + } + ) + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01425, 0.017254578, -0.022014) + float3 physics:diagonalInertia = (3.8431356e-9, 1.3170517e-8, 1.3170517e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (-0.7055175, 0.047382545, -0.04738254, 0.7055175) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.01425, 0.017254578, -0.031014) + float3 physics:diagonalInertia = (3.843135e-9, 1.3170517e-8, 1.3170517e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (0.537509, 0.45943886, 0.45943886, 0.537509) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.0072488836, 0.020641726, -0.022420388) + float3 physics:diagonalInertia = (0.0000052002574, 0.000016307678, 0.000018486568) + float physics:mass = 0.036212813 + quatf physics:principalAxes = (0.48465165, 0.3314525, 0.7001844, 0.40619427) + } + } + } + } + + over "right_gripper" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.038120225 ( + customData = { + dictionary agentfix = { + string massConfidence = "source component aggregate" + string massMethod = "sum of positive source component masses" + } + } + ) + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.01425, 0.017254578, 0.031014) + float3 physics:diagonalInertia = (3.8431467e-9, 1.3170578e-8, 1.3170579e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (-0.45891875, -0.53795314, 0.53795314, 0.45891875) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.01425, 0.017254578, 0.022014) + float3 physics:diagonalInertia = (3.843147e-9, 1.3170578e-8, 1.3170579e-8) + float physics:mass = 0.00095370546 + quatf physics:principalAxes = (0.7055498, 0.04689871, 0.046898708, 0.7055498) + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (-0.0072488836, 0.020641726, 0.022420386) + float3 physics:diagonalInertia = (0.0000052002783, 0.000016307733, 0.00001848663) + float physics:mass = 0.036212813 + quatf physics:principalAxes = (-0.3314515, -0.48465177, 0.40619308, 0.70018554) + } + } + } + } + + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0, 0.15) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsPrismaticJoint "Slider_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 40 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 4000 + float drive:linear:physics:targetPosition = 0 + float drive:linear:physics:targetVelocity = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (0.01125, -0.0019, -0.03577272) + point3f physics:localPos1 = (0.01125, -0.0019, -0.03577272) + quatf physics:localRot0 = (6.123234e-17, 1, 0, 0) + quatf physics:localRot1 = (6.123234e-17, 1, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.025 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "Slider_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 10 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 1000 + float drive:linear:physics:targetPosition = 0 + float drive:linear:physics:targetVelocity = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + point3f physics:localPos0 = (-0.01125, -0.0019, 0.03577272) + point3f physics:localPos1 = (-0.01125, -0.0019, 0.03577272) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.025 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:staticFriction = 4 + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..8a725e4067af3addb1935ceeba8534820c706ee0 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/Physics/physx.usda @@ -0,0 +1,20 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..7d76c0d39c8b1c6037cbd80ae6452bc55a97f26e --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/base.usda @@ -0,0 +1,666 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "RobotIq_Hand_E_base" ( + kind = "assembly" +) +{ + def Xform "base_link" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_03" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_04" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_05" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.05 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Parallel-jaw grasp center" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0, 0.049, 0) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0.03, 0)] + point3f[] points = [(0, 0, 0), (0, 0.03, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.0105, 0, 0), (0.0105, 0, 0)] + point3f[] points = [(-0.0105, 0, 0), (0.0105, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "left_gripper" ( + prepend apiSchemas = ["MaterialBindingAPI"] + kind = "group" + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (-2.393918396847994e-16, -9.996344030316351e-17, 0.0000031459807267528173) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + + def Xform "right_gripper" ( + prepend apiSchemas = ["MaterialBindingAPI"] + kind = "group" + ) + { + rel material:binding:physics = ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" ( + instanceable = false + kind = "subcomponent" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:translate = (0, -9.996344030316351e-17, -0.00000314598072739499) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"] + + def Scope "Looks" + { + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI"] + ) + { + } + } + } + } + + def Scope "VisualMaterials" + { + } + + def Material "fingertip_material" ( + active = true + ) + { + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd b/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..c901d32e1efe97151c10862455354cc9f8ff2820 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:771a0a04f7fcf33054a3b0d7223ab3d1f7a2bf8d5b7907e88afe111c91a3d7b9 +size 2960687 diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..bdda9fac9b45b0d16ce8c1f34a052127807c45d0 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/instances.usda @@ -0,0 +1,975 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846955e-7, 0, 0, 0, 3.206227121326496e-8, 0, 0, 0, 5.077595243846955e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270198e-7, 0, 0, 0, 1.0576617764197444e-8, 0, 0, 0, 1.0356251998270198e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846953e-7, 0, 0, 0, 3.206227121326496e-8, 0, 0, 0, 5.077595243846953e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270236e-7, 0, 0, 0, 1.057661776419747e-8, 0, 0, 0, 1.0356251998270236e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [2.3763823645843265e-9, 0, 0, 0, 4.73006043906116e-9, 0, 0, 0, 2.376382364584326e-9] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270216e-7, 0, 0, 0, 1.0576617764197457e-8, 0, 0, 0, 1.0356251998270215e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.07759524384695e-7, 0, 0, 0, 3.2062271213264966e-8, 0, 0, 0, 5.07759524384695e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [5.077595243846959e-7, 0, 0, 0, 3.2062271213264966e-8, 0, 0, 0, 5.077595243846959e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270231e-7, 0, 0, 0, 1.0576617764197464e-8, 0, 0, 0, 1.0356251998270231e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.00004338592382010854, 1.5193164306516504e-15, -4.2771363118439794e-11, 1.5193164306516504e-15, 0.00007337635691874903, 0, -4.2771363118439794e-11, 0, 0.00003628642231003109] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Celeste" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.8, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend references = @./geometries.usd@ + ) + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0356251998270219e-7, 0, 0, 0, 1.0576617764197457e-8, 0, 0, 0, 1.0356251998270218e-7] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = None + ) + { + double[] inertiaMatrix = [0.0006641696250453498, 3.4844840765882885e-9, -6.634324733763833e-10, 3.4844840765882885e-9, 0.0003857028302926503, 0.000001732597484296221, -6.634324733763833e-10, 0.000001732597484296221, 0.000665151697796183] + + over "Mercury" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Cod_Gray" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Mercury" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9019608, 0.9019608, 0.9019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Cod_Gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145615e-8, 0, 0, 0, 2.606002302603864e-9, 0, 0, 0, 1.0916516749145613e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145693e-8, 0, 0, 0, 2.6060023026038622e-9, 0, 0, 0, 1.0916516749145693e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000015677159129686152, 0.0000035752382847897787, -0.0000018985836938539938, 0.0000035752382847897787, 0.000007321508669963475, 0.000003646692493024183, -0.0000018985836938539938, 0.000003646692493024183, 0.000013440751158691061] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Cadet_Blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145703e-8, 0, 0, 0, 2.606002302603864e-9, 0, 0, 0, 1.0916516749145704e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [1.0916516749145609e-8, 0, 0, 0, 2.606002302603863e-9, 0, 0, 0, 1.0916516749145609e-8] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Nobel" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend references = @./geometries.usd@ + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + double[] inertiaMatrix = [0.000015677159391555885, -0.0000035752383188559365, -0.0000018985837416753084, -0.0000035752383188559365, 0.000007321508885480595, -0.000003646692593977701, -0.0000018985837416753084, -0.000003646692593977701, 0.000013440751205043757] + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Cadet_Blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..3ea0c3d607f75f4e1dfb32cc1ce79763ff74f8b9 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/materials.usda @@ -0,0 +1,328 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Celeste" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8, 0.8, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Cadet_Blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.6666667, 0.69803923, 0.7647059) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6666667, 0.69803923, 0.7647059) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Mercury" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.9019608, 0.9019608, 0.9019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.9019608, 0.9019608, 0.9019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Cod_Gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.039215688, 0.039215688, 0.039215688) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Nobel" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7019608, 0.7019608, 0.7019608) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:emissive_intensity = 0 + bool inputs:enable_emission = 0 + float inputs:metallic_constant = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda b/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..9a8443be7216516c1379ff167816ad5e3b973943 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/payloads/robot.usda @@ -0,0 +1,303 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + prepend rel isaac:physics:robotJoints = [ + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + ] + token isaac:robotType = "End Effector" + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "Slider_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "Slider_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_gripper" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + ) + { + } + } + } + } + + over "right_gripper" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + ) + { + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + ) + { + } + } + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..3d8f233d135e82e73a0aa343aa0f0e3eb77dcc75 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/mujoco.usda @@ -0,0 +1,345 @@ +#usda 1.0 +( + defaultPrim = "RobotIq_Hand_E_base" +) + +over "RobotIq_Hand_E_base" +{ + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "Slider_2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + def "MuJoCoActuators" + { + def MjcActuator "act_RobotIq_Hand_E_base_Slider_1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -1000, -10] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 185 + double mjc:forceRange:min = -185 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..5a79ac0d0ffa21fb87e5879978550fccb7559947 --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/newton.usda @@ -0,0 +1,334 @@ +#usda 1.0 +( + defaultPrim = "RobotIq_Hand_E_base" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 185 + float drive:linear:physics:stiffness = 45000 + float newton:armature = 20 + float newton:damping = 1500 + float newton:velocityLimit = 0.15 + } + + over "Slider_2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:armature = 20 + float newton:damping = 20 + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.15 + } +} + diff --git a/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..d702e9796a173e3ed12b5511cdb3ef8afe8ebe5d --- /dev/null +++ b/robotiq_hand_e_robotiq_hand_e_base/runnables/physics/physx.usda @@ -0,0 +1,302 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "RobotIq_Hand_E_base" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "RobotIq_Hand_E_base" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + + over "base_link" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_11ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_6ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_13ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_1" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_10ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_24ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + over "toothed_lock_washer_metric_robotiq_12ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_03" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_3" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_7ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + over "socket_head_cap_screw_iso_robotiq_25ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_04" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group2ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group3ROBOTIQ_HAND_E_DEFEATURE_05" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group3ROBOTIQ_HAND_E_DEFEATURE_5" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + over "Group1ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "left_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_1" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_2" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "right_gripper" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_3" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_01" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_4" + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_02" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE" + { + over "D_A03_ASM_DOIGTS_PARALLELES_1ROBOTIQ_HAND_E_DEFEATURE_5" + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "Slider_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:armature = 0.1 + float physxJoint:maxJointVelocity = 0.15 + } + + over "Slider_2" ( + delete apiSchemas = ["PhysicsDriveAPI:linear"] + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float physxJoint:armature = 0.1 + float physxJoint:maxJointVelocity = 0.15 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 600 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "fingertip_material" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + bool physxMaterial:compliantContactAccelerationSpring = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..d927cbafb93bcea1aaede75dca36dbdf10821307 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:42", + "assets": [ + { + "asset": "schunk_egk_25.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "013e380b72bb0840c33f625fad18787867ee43e20a87e831c0e658b86f328a34" + } +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc2cc3ea19796853ac511fd6d19448e048a4b8a --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:10:44", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + 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"b00ed85b17aeea6e11282dde1fa60c8c275261fb5975dac07847a74cefdf0d85" + } + } + ] +} \ No newline at end of file diff --git a/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..2147b790d2a142c2e8b987e8a9752d38c5c458e1 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "schunk_egk_25.usda" + ] +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/license.txt b/schunk_egk_25_schunk_egk_25/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..e1709ff4c6665ebd3924784c11545af3b4a8f70d --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_benchmark.json @@ -0,0 +1,7660 @@ +{ + "schema_version": "1.0", + "asset": "schunk_egk_25_schunk_egk_25", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 119.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 32.359, + "unit": null + }, + 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+ "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 37500.0, + "damping": 0.0, + "max_force": 100.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.026500003412365913, + "start": 4.1353252274764333e-16, + "tolerance": 0.0013250001706182752 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 101, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.203, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Jaw_Drive", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "direction": "-XZ", + "world_com": [ + -5.421356762552622e-06, + -4.542883717731003e-06, + 9.046390811136122e-05 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.639, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 136.58, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.781, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.813, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.297, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 191.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.828, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 37500.0, + "damping": 0.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 36.141, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 36.06200000003446, + "setup_elapsed_wall_seconds": 2.75, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3323.9379999999655, + "observed_service_seconds_per_nominal_tick": 0.026692307692335302, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 29.632000000216067, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.2980000000679865, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.9600000001955777, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.1399999997811392, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.12399999995250255, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.20399999991059303, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 0.7029999999795109, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0006811129076094066, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 2.353586509712402e-12, + "observed_start": 2.353586509712402e-12, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00019037602449564992 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.023850003071129323, + "observed_start": 0.02384631149470806, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016919366591844343 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0026500003412365915, + "observed_start": 0.0026532383635640144, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.1178738226490523e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.298, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 144.22, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 41.828, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 41.71900000004098, + "setup_elapsed_wall_seconds": 31.813000000081956, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3318.280999999959, + "observed_service_seconds_per_nominal_tick": 0.00788694267512661, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 2.855000000796281, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.3110000001033768, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.8750000004656613, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.15999999991618097, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.8019999997923151, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.906999998842366, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.6870000000344589, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0006811130139243955, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 1.1771830248266614e-21, + "observed_start": 1.1771830248266614e-21, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00019037602451443678 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.023850003071129323, + "observed_start": 0.02384350448846817, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00016917125977067293 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0026500003412365915, + "observed_start": 0.002655774587765336, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.1198982931673604e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.311, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 145.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.687, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.026500003412365913, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 73.594, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.05299999937415123, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.5, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.425, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.42, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 117.93, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.985, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "test_support_collision_suspended": { + "value": [], + "unit": null + }, + "detect_probe_evidence_0": { + "value": { + "schema_version": 1, + "trial_index": 0, + "trial_shape": "cube", + "dof_index": 0, + "joint_name": "Jaw_Drive", + "joint_units": "native articulation position units; see motion metadata when identity resolves", + "lower_limit": 0.0, + "upper_limit": 0.026500003412365913, + "inset_fraction": 0.05, + "original_position": 3.6865474561942335e-10, + "prior_target": 0.0, + "meters_per_unit": 1.0, + "reference_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "candidate_body_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4" + ], + "candidate_body_paths_omitted": 0, + "missing_geometry_paths": [], + "geometry_basis": "owned bound corners transformed by live tensor poses; not measured contacts", + "ramps": [ + { + "phase": "lower_endpoint", + "start_position": 3.6865474561942335e-10, + "commanded_target": 0.0013250001706182958, + "steps_requested": 120, + "steps_attempted": 120, + "steps_observed": 120, + "samples": [ + { + "step": 1, + "commanded": 2.748767155690864e-07, + "achieved": 2.6748391945830008e-08 + }, + { + "step": 4, + "commanded": 4.318886527812005e-06, + "achieved": 7.319908945646603e-07 + }, + { + "step": 8, + "commanded": 1.6881847613096037e-05, + "achieved": 4.466925929591525e-06 + }, + { + "step": 12, + "commanded": 3.710036310972503e-05, + "achieved": 1.2817886272387113e-05 + }, + { + "step": 16, + "commanded": 6.438554421682628e-05, + "achieved": 2.6666213670978323e-05 + }, + { + "step": 20, + "commanded": 9.814850213352711e-05, + "achieved": 4.6404828026425093e-05 + }, + { + "step": 24, + "commanded": 0.00013780034805895486, + "achieved": 7.210053445305675e-05 + }, + { + "step": 28, + "commanded": 0.00018275219319223676, + "achieved": 0.00010360228043282405 + }, + { + "step": 32, + "commanded": 0.00023241514873250022, + "achieved": 0.00014061365800444037 + }, + { + "step": 36, + "commanded": 0.00028620032587887246, + "achieved": 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\"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, 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File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 341.063, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.498, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 633.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.032, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 36.82, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.02650045589820283, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.07197753272368271, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_PrismaticJoint0_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_trans_pct": { + "value": 36.82, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_stage_units": { + "value": 0.0265004580629952, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_stage_units": { + "value": 0.0719775310095505, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "jm_joint_PrismaticJoint0_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 80.89, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.935, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 176.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.875, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 36.66, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.026383606716990998, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.0719775378921349, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 99.6, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_PrismaticJoint0_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_trans_pct": { + "value": 36.8, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_m": { + "value": 0.072, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_stage_units": { + "value": 0.026491265743970573, + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_stage_units": { + "value": 0.07197753327108058, + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_PrismaticJoint0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_PrismaticJoint0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_PrismaticJoint0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "jm_joint_PrismaticJoint0_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "PrismaticJoint0", + "authored_joint_name": "PrismaticJoint0", + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1500102Grundbacke_EGK_25_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491752_EGK_25_PN_M_B_000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 66.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.814, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 960.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.782, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.852708, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031941, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 66.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 28.814, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 960.47, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.782, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.862069, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 25, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.852708, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.031941, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.843, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1990.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 42176, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 45.843, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.954, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1990.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 15, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 42176, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 21.781, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.797, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 199.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.562, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_PrismaticJoint0_max_error_rad": { + "value": 7.148333982823522e-05, + "unit": null + }, + "mim_pair_PrismaticJoint0_mean_error_rad": { + "value": 2.15425587965238e-06, + "unit": null + }, + "mim_pair_PrismaticJoint0_ref_swept_rad": { + "value": 0.023497547168517485, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_observed_rad": { + "value": 0.02357013623986859, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_expected_rad": { + "value": 0.023497547168517485, + "unit": null + }, + "mim_pair_PrismaticJoint0_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_PrismaticJoint0_motion_ratio": { + "value": 1.0030892190929765, + "unit": null + }, + "mim_pair_PrismaticJoint0_gear_ratio_error": { + "value": 0.0030892190929765473, + "unit": null + }, + "mim_pair_PrismaticJoint0_abs_formula_max_error_rad": { + "value": 7.14826601324603e-05, + "unit": null + }, + "mim_pair_PrismaticJoint0_rest_residual_rad": { + "value": 6.796957749237442e-10, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": 1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "PrismaticJoint0", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.875, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.796, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 199.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.562, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_PrismaticJoint0_max_error_rad": { + "value": 0.0003605414160083585, + "unit": null + }, + "mim_pair_PrismaticJoint0_mean_error_rad": { + "value": 0.00010882969997237414, + "unit": null + }, + "mim_pair_PrismaticJoint0_ref_swept_rad": { + "value": 0.0236250791567727, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_observed_rad": { + "value": 0.023062910127919167, + "unit": null + }, + "mim_pair_PrismaticJoint0_follower_expected_rad": { + "value": 0.0236250791567727, + "unit": null + }, + "mim_pair_PrismaticJoint0_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_PrismaticJoint0_motion_ratio": { + "value": 0.9762045652789962, + "unit": null + }, + "mim_pair_PrismaticJoint0_gear_ratio_error": { + "value": 0.02379543472100376, + "unit": null + }, + "mim_pair_PrismaticJoint0_abs_formula_max_error_rad": { + "value": 0.0003605414167395793, + "unit": null + }, + "mim_pair_PrismaticJoint0_rest_residual_rad": { + "value": 7.312208010468866e-13, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "PrismaticJoint0", + "gearing": -1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": -1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "PrismaticJoint0", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/PrismaticJoint0", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.796, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 33.281, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 52.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.014, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1876.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000875, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.004215, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 52.5, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.014, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1876.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.000875, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.004215, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.295, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1259.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 42082, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.295, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1259.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 15, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 42082, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 211.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 46.081, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2304.05, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.657, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 211.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 46.081, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 2304.05, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.657, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.985, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1859.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.284141, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 14.985, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1859.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.284141, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1409.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "universal_surface_materials_total": { + "value": 15, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41931, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.048, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1409.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 15, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 15, + "unit": null + }, + "universal_surface_materials_total": { + "value": 15, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 62, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 41931, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.516, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.438, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 143.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.016, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.013449010665640072, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 60.016, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.578, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 157.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.937, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.0023838374059549625, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 10.812, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.24207612514751006, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.562, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 562.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.422, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 660.0, + "max_force": 100.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.141, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.2420761041500652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 453.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.813, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 24, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + } + ] +} diff --git a/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb0452912fd23f9c7384025a4cca60bf94aa819 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/.metadata/schunk_egk_25_schunk_egk_25_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/schunk_egk_25.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + 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sha256:e39b1b39a794b03505d325da6f5ea16081633113f164f54472f48e271a52e726 +size 43021 diff --git a/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json b/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..c955230b28009eee490df8c17f3ec3ad07e37672 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.schunk_egk_25_schunk_egk_25.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "c557ac5f25b4a82c517c4507699358ce845a94febfc5fecab1a371baed1e438d" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "af91c32fb8463babfd0f92ff1a9dd7d850769fae08a870e2de90d78b478f6401" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + 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b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBRBase.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/aux_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/core_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/license.txt b/schunk_egk_25_schunk_egk_25/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/schunk_egk_25_schunk_egk_25/materials/mdl/support_definitions.mdl b/schunk_egk_25_schunk_egk_25/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda b/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Fingers/default.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Fingers/none.usda b/schunk_egk_25_schunk_egk_25/payloads/Fingers/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Fingers/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Physics/mujoco.usda b/schunk_egk_25_schunk_egk_25/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..cf794babc705ae4202f6580da20bd30bf6e514aa --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Physics/mujoco.usda @@ -0,0 +1,247 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egk_25" +{ + over "SCHUNK_1500102Grundbacke_EGK_25_3" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + } + } + } + + over "visuals" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" + { + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" + { + } + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + } + } + } + + over "visuals" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" + { + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" + { + } + } + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_0" + { + } + + over "visuals" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + } + } + + over "collisions" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" + { + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + } + } + } + + over "joints" + { + over "Jaw_Drive" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"] + ) + { + } + + over "PrismaticJoint0" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Physics/none.usda b/schunk_egk_25_schunk_egk_25/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Physics/physics.usda b/schunk_egk_25_schunk_egk_25/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..6ebe91a466fc0b9f4520f6fd8b5a16a8f33dd6d3 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Physics/physics.usda @@ -0,0 +1,397 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egk_25" +{ + over "SCHUNK_1500102Grundbacke_EGK_25_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.01 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.013 + + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + instanceable = false + ) + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + instanceable = false + ) + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + instanceable = false + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" ( + instanceable = false + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + instanceable = false + ) + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.01 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.013 + + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + instanceable = false + ) + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + instanceable = false + ) + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + instanceable = false + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" ( + instanceable = false + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + instanceable = false + ) + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.11 + + over "collisions" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" ( + instanceable = false + ) + { + over "mesh_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" ( + instanceable = false + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" ( + instanceable = false + ) + { + over "mesh_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" ( + instanceable = false + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = false + ) + { + over "mesh_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = false + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = false + ) + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = false + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" ( + instanceable = false + ) + { + over "mesh_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" ( + instanceable = false + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" ( + instanceable = false + ) + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + instanceable = false + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "joints" + { + def PhysicsPrismaticJoint "Jaw_Drive" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 660 + float drive:linear:physics:maxForce = 100 + float drive:linear:physics:stiffness = 2000 + float drive:linear:physics:targetPosition = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (3e-7, 0.0000031, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 5e-8, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.026500003 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "PrismaticJoint0" ( + prepend apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = inf + float physics:breakTorque = inf + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (-3e-7, 0.0000031, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, -5e-8, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -0.026500003 + float physics:upperLimit = 0 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Physics/physx.usda b/schunk_egk_25_schunk_egk_25/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..68915c81d983f3af561bb2fe346ea1b6ddf91cbd --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Physics/physx.usda @@ -0,0 +1,43 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "schunk_egk_25" +{ + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + float physxMimicJoint:rotX:gearing = 1 + rel physxMimicJoint:rotX:referenceJoint = + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Robot/none.usda b/schunk_egk_25_schunk_egk_25/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Robot/robot.usda b/schunk_egk_25_schunk_egk_25/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..2ee105f8049ccd7e133485a1675e7db0a8a685fe --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Robot/robot.usda @@ -0,0 +1,82 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egk_25" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + ] + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "SCHUNK_1500102Grundbacke_EGK_25_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Sensor/none.usda b/schunk_egk_25_schunk_egk_25/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..0c06aa29d5ed9167a8dbbca5e902ac7b04fe8227 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/Sensor/sensors.usda b/schunk_egk_25_schunk_egk_25/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..20388b8466343209f69bab873f7f2e55b7e4dd7f --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egk_25" +{ +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/base.usda b/schunk_egk_25_schunk_egk_25/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..fc2a6ebffc6ab066df0135f560eebd6b6a1c26a2 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/base.usda @@ -0,0 +1,610 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "schunk_egk_25" ( + customData = { + string[] variantPrimPaths = ["SCHUNK_1500102Grundbacke_EGK_25_3/fingerconnector", "SCHUNK_1500102Grundbacke_EGK_25_4/fingerconnector"] + } +) +{ + quatd xformOp:orient = (0.7071067811865476, 0.7071067811865475, 0, 0) + double3 xformOp:scale = (0.001, 0.001, 0.001) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK_1500102Grundbacke_EGK_25_3" + { + quatd xformOp:orient = (1, 0, 5.000000058430487e-8, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (3.000000106112566e-7, 0.000003099999958067201, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + rel proxyPrim + quatd xformOp:orient = (0.5000000000000001, -0.5, -0.49999999999999994, -0.5) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (100, 100, 100) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.1095, 0, 0.887) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.7071067812, -0.7071067812, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0125, 0.0425, 0.03) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.08, 0, 0.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "SCHUNK_1504616_ZBA_EGK_25_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0, 0.7071067812, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.1895, 5.817072296e-18, 0.792) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + token visibility = "inherited" + + def Xform "SCHUNK_1500102Grundbacke_EGK_25_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071068287, 0, 0.7071067337, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-13.13999844, 70.19999695, -13.25000191) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1500102Grundbacke_EGK_25_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071068287, 0, 0.7071067337, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-13.13999844, 70.19999695, -13.25000191) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "SCHUNK_1500102Grundbacke_EGK_25_4" + { + quatd xformOp:orient = (1, 0, -5.000000058430487e-8, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-3.000000106112566e-7, 0.000003099999958067201, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + rel proxyPrim + quatd xformOp:orient = (0.5000000000000001, -0.5, 0.49999999999999994, 0.5) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (100, 100, 100) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.1095, 0, 0.887) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.7071067812, -0.7071067812, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0125, 0.0425, 0.03) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.08, 0, 0.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "SCHUNK_1504616_ZBA_EGK_25_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0, 0, 0.7071067812, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.1895, 5.817072296e-18, 0.792) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + token visibility = "inherited" + + def Xform "SCHUNK_1500102Grundbacke_EGK_25_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071068287, 0, -0.7071067337, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (13.14000225, 70.19999695, 13.24999809) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1500102Grundbacke_EGK_25_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071068287, 0, -0.7071067337, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (13.14000225, 70.19999695, 13.24999809) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.053 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Gripper grasp point" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 95, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 50, 0)] + point3f[] points = [(0, 0, 0), (0, 50, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-20, 0, 0), (20, 0, 0)] + point3f[] points = [(-20, 0, 0), (20, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, 0.01234069878, 0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.01234069839, -0.7069990857, -0.01234069878, -0.7069990857) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (29.75322723, 62.96844864, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Scope "joints" + { + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/geometries.usd b/schunk_egk_25_schunk_egk_25/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..0675bc55dc62bbd2a6cbacbda9210109c26bda0a --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93404ebefa17669f23b5e177d70ba90b1c1d2f1ea539b91d736658b91f74e48e +size 727890 diff --git a/schunk_egk_25_schunk_egk_25/payloads/instances.usda b/schunk_egk_25_schunk_egk_25/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..07400ee6434f873981118844cd789c61e7402852 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/instances.usda @@ -0,0 +1,1152 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend references = @./geometries.usd@ + ) + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_24" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_17" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_24" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_17" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend references = @./geometries.usd@ + ) + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_19" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_43" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_33" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_26" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_19" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_43" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_33" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.38415688, 0.77126276) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_26" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057172548, 0.1729255) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend references = @./geometries.usd@ + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Material_111" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Slotted_head_cap_screw_ISO_4762___M2_5x10_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + bool physics:collisionEnabled = 1 + } + + def Scope "VisualMaterials" + { + def Material "Material_113" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend references = @./geometries.usd@ + ) + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_2" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + token visibility = "inherited" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_cyan" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK__light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/materials.usda b/schunk_egk_25_schunk_egk_25/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..0136f4d9e227f8ad9a4c8d7b76556c2835649a95 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/materials.usda @@ -0,0 +1,6588 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Material_5" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_5" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_4" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_4" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8392157, 0.74509805, 0.15686275) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.8392157, 0.74509805, 0.15686275) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_3" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_3" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.11764706, 0.11764706, 0.11764706) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_20" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_20" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_11" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_11" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_14" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_14" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_41" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_41" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_31" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_31" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.62, 0.878) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.38415688, 0.77126276) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_23" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_23" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.239, 0.416) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057172548, 0.1729255) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_18" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_18" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_42" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_42" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_32" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_32" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.62, 0.878) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.38415688, 0.77126276) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_25" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_25" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.239, 0.416) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057172548, 0.1729255) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_15" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_15" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.11764706, 0.11764706, 0.11764706) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_16" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_16" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.11764706, 0.11764706, 0.11764706) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_27" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_27" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_110" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_110" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_13" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_13" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_40" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_40" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_30" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_30" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.62, 0.878) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.38415688, 0.77126276) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_22" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_22" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.239, 0.416) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057172548, 0.1729255) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_112" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_112" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_114" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_114" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_21" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_21" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_12" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_12" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_1" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_1" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_24" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_24" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_17" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_17" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_19" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_19" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_43" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_43" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_33" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_33" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.62, 0.878) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.38415688, 0.77126276) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_26" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_26" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.239, 0.416) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057172548, 0.1729255) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_111" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "steel" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_111" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_113" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "steel" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_113" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69, 0.69, 0.69) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69, 0.69, 0.69) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_2" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_2" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_10" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_10" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_black" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.000001, 9.9999e-7, 9.9999e-7) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:reflection_roughness_constant = 1 + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK__light_gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8901961, 0.8901961, 0.8901961) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK__dark_blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.23921569, 0.41568628) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_white" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_cyan" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.61960787, 0.8784314) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/schunk_egk_25_schunk_egk_25/payloads/robot.usda b/schunk_egk_25_schunk_egk_25/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..5798fa37a905e5ffb62f40d3ab882b97f3d46482 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/payloads/robot.usda @@ -0,0 +1,115 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egk_25" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "SCHUNK_1500102Grundbacke_EGK_25_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/schunk_egk_25_schunk_egk_25/runnables/physics/mujoco.usda b/schunk_egk_25_schunk_egk_25/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..c8bc6663c276f71b591ea54f5215d5e11a5c5546 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/runnables/physics/mujoco.usda @@ -0,0 +1,327 @@ +#usda 1.0 +( + defaultPrim = "schunk_egk_25" +) + +def "schunk_egk_25" +{ + over "SCHUNK_1500102Grundbacke_EGK_25_3" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" + { + over "mesh_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" + { + over "mesh_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" + { + over "mesh_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" + { + over "mesh_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_0" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_schunk_egk_25_joints_Jaw_Drive" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -2000, -660] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 100 + double mjc:forceRange:min = -100 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/schunk_egk_25_schunk_egk_25/runnables/physics/newton.usda b/schunk_egk_25_schunk_egk_25/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..8883f4ddb222a0dcd35a66908d8e6e38268ae370 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/runnables/physics/newton.usda @@ -0,0 +1,318 @@ +#usda 1.0 +( + defaultPrim = "schunk_egk_25" +) + +over "schunk_egk_25" +{ + over "SCHUNK_1500102Grundbacke_EGK_25_3" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" + { + over "mesh_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" + { + over "mesh_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" + { + over "mesh_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" + { + over "mesh_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 100 + float drive:linear:physics:stiffness = 37500 + float newton:damping = 1250 + float newton:velocityLimit = 0.2 + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = -1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.2 + } + } +} + diff --git a/schunk_egk_25_schunk_egk_25/runnables/physics/physx.usda b/schunk_egk_25_schunk_egk_25/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..1b419a5593df6addcf50012a4c471942c8a6ca70 --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/runnables/physics/physx.usda @@ -0,0 +1,295 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egk_25" +{ + over "joints" + { + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 0.2 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "PrismaticJoint0" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 0.2 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = 1 + float physxMimicJoint:rotX:naturalFrequency = 60 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "SCHUNK_1500102Grundbacke_EGK_25_3" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_13" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1500102Grundbacke_EGK_25_4" + { + over "fingerconnector" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B1Aluminium0_50_5321_410309_450000000000000000002" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" + { + over "FGR_AL_1_EGK_25_ZBA_EGK_25_PN_M_B0_5121_410309_450030000000000000000Aluminium0_5_6" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" + { + over "SCHUNK_9941369_Typenschild_3x9x0_3_7" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_9" + { + over "Slotted_head_cap_screw_ISO_4762___M2_5x10_8" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "SCHUNK_1504616_ZBA_EGK_25_14" + { + over "SCHUNK_1504616_ZBA_EGK_25_14" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + } + + over "collisions" + { + over "SCHUNK_1500102Grundbacke_EGK_25_14" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491752_EGK_25_PN_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_1" + { + over "mesh_1" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_2" + { + over "mesh_2" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_3" + { + over "mesh_3" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK__Gehaeuse_EGK_25_PN_EI_0_4" + { + over "mesh_4" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_5" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_6" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_7" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_5" + { + over "mesh_5" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_6" + { + over "mesh_6" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_7" + { + over "mesh_7" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" + { + token physics:approximation = "convexHull" + } + } + } + } +} + diff --git a/schunk_egk_25_schunk_egk_25/schunk_egk_25.usda b/schunk_egk_25_schunk_egk_25/schunk_egk_25.usda new file mode 100644 index 0000000000000000000000000000000000000000..1430378bf1d8a22c4f88bcbc792bda81eafa128e --- /dev/null +++ b/schunk_egk_25_schunk_egk_25/schunk_egk_25.usda @@ -0,0 +1,1759 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/schunk_egk_25" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/schunk_egk_25" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/schunk_egk_25" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.062, 0.09255, 0.118700005) + string asset_license = "CC-BY-4.0" + string asset_name = "schunk_egk_25" + string asset_type = "robot" + string author = "Schunk" + string category = "robot end effector" + double mass = 0.12999999895691872 + string qcode = "Q1340324" + int rigid_body_count = 3 + string source_file = "Schunk/egk_25/schunk_egk_25/schunk_egk_25.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "schunk_egk_25" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egk_25" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string Fingers = "none" + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "Fingers", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "SCHUNK_1500102Grundbacke_EGK_25_3" + { + matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, 2.220446049250313e-19, 0.001, 0), (0, -0.001, 2.220446049250313e-19, 0), (3.000000106112566e-10, 6.883382659566453e-25, 3.099999958067201e-9, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "collisions" + { + token visibility = "invisible" + + over 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payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..cc0fd62b8dfb1f441e05eef628b3b7939789b956 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:14:33", + "assets": [ + { + "asset": "schunk_egu_50.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "870365386658743ea8dc19c2a572e1ec70242f616b849f6b12e4c1d86a64e944" + } +} diff --git a/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..05102cdef63a5d18ca67feff2ff8acdc416ae926 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:14:35", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP030_PackagingCore.OpenUSD.0-2-0" + ] + } + } + ] + } + ] +} diff --git a/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.packaging.bom.json b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.packaging.bom.json new file mode 100644 index 0000000000000000000000000000000000000000..c663657ace73c374b12a893e096e15440fbea81b --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/.metadata/com.nvidia.simready.packaging.bom.json @@ -0,0 +1,231 @@ +{ + "format_version": "1.0", + "content_root": 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_benchmark.json b/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..e81a2f39f021ea6db0d016cf65ba4b4ae7693359 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_benchmark.json @@ -0,0 +1,7660 @@ +{ + "schema_version": "1.0", + "asset": "schunk_egu_50_schunk_egu_50", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.156, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.533, + "unit": null + }, + 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+ }, + "display_color_silhouette_pixels": { + "value": 64670, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 65057, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1491, + 0.1498, + 0.1507 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 3.1e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.678429, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 86.875, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 59, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 21, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 21, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 21, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.922, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 560.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.765, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 64670, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 65057, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1491, + 0.1498, + 0.1507 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 3.1e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.678429, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 12.5, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.415433843824946, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.484, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1484.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 250.0, + "max_force": 200.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.050999999046325684, + "start": 5.2194164788799124e-12, + "tolerance": 0.0025499999520553138 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 28.266, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 1, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.485, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 242.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.703, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 0.0, + "max_force": 20.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.050999999046325684, + "start": 2.830833623068685e-10, + "tolerance": 0.0025499999381621164 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 173, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.078, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.415433843824946, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Jaw_Drive", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "direction": "-XZ", + "world_com": [ + 0.012573335131098536, + -0.025470241464954947, + 0.08301391590836311 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.921, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 160.08, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.281, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "runtime_lower": 0.0, + "runtime_upper": 0.050999999046325684, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 1275.0, + "max_force": 150.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 34.875, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.015, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 167.92, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.079, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "runtime_lower": 0.0, + "runtime_upper": 0.050999999046325684, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 0.0, + "max_force": 20.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 42.734, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 42.64099999994505, + "setup_elapsed_wall_seconds": 2.827999999979511, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3317.359000000055, + "observed_service_seconds_per_nominal_tick": 0.031901442307664694, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 35.1790000005858, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.4510000000009313, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.9949999995296821, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.1419999998761341, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.21999999973922968, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.4380000000819564, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 1.1559999999590218, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.415433843824946, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0013889997302131347, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 5.459789738371246e-12, + "observed_start": 5.459789738371246e-12, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0003663839931052225 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.04589999914169311, + "observed_start": 0.04575551301240921, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0003245213401853464 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0050999999046325685, + "observed_start": 0.005227136891335249, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 4.1724168252516014e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.451, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 161.22, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.156, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.050999999046325684, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 1275.0, + "max_force": 150.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 39.453, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 39.375, + "setup_elapsed_wall_seconds": 28.875, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3320.625, + "observed_service_seconds_per_nominal_tick": 0.008359872611464968, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 2.821000000461936, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.3440000000409782, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 1.02800000004936, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.09299999987706542, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.9189999996451661, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.952999999979511, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.984000000054948, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 2, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 1, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.0013890003712406847, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 2.3113785191375413e-11, + "observed_start": 2.3113785191375413e-11, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00036638399296430433 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.04589999914169311, + "observed_start": 0.045887913554906845, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0003255781907374189 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0050999999046325685, + "observed_start": 0.0051107387989759445, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 4.0795052813139e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.344, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 149.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.984, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.050999999046325684, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": 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"enable_drop": true, + "drop_wait_s": 1.0, + "drop_min_dz_m": 0.05, + "fall_min_delta_z": 0.05, + "horizontal_drift_max": 0.05, + "pre_load_max_dz": 0.01, + "carrier_translate_tolerance_m": 0.01, + "min_lift_for_eval_m": 0.1, + "jik_max_iterations": 80, + "jik_step_size": 0.05, + "jik_position_tolerance": 0.005, + "jik_rms_tolerance": 0.003, + "jik_contact_force_threshold_n": 0.5, + "max_close_frames": 1200, + "physics_fps": 240.0, + "carrier_merge_rail": true, + "detect_limit_inset_frac": 0.05 + }, + "joints": [ + { + "name": "Jaw_Drive", + "dof_index": 1, + "role": "closure", + "open_target": 0.050999999046325684, + "closed_target": 0.0, + "close_delay_steps": 0, + "unit": "unknown_native", + "identity_resolved": true + } + ], + "joints_omitted": 0, + "object_offset_world_xy_m": [ + 0.0, + 0.0 + ], + "grasp_center_base_m": null, + "approach_pitch_deg": null, + "descent_reference": "fingertips", + "transport_omissions": { + "joints": 0, + "hand_joint_controls": 0, + "hand_close_delays": 0, + "procedure_settings": 0 + } + }, + "unit": null + }, + "grasp_center_initial_z_cube": { + "value": 0.1295000037550926, + "unit": null + }, + "approach_clearance_m_cube": { + "value": 0.09300000250339507, + "unit": null + }, + "spawn_center_z_cube": { + "value": 0.036500001251697535, + "unit": null + }, + "open_joint_actual_cube": { + "value": 0.05100000277161598, + "unit": null + }, + "open_joint_expected_cube": { + "value": 0.050999999046325684, + "unit": null + }, + "open_joint_worst_error_cube": { + "value": 3.725290298461914e-09, + "unit": null + }, + "measured_separation_after_open_cube": { + "value": 0.05686848412934241, + "unit": null + }, + "descent_total_cube": { + "value": 0.10656888447015915, + "unit": null + }, + "descent_contacted_cube": { + "value": false, + "unit": null + }, + "contact_backoff_m_cube": { + "value": 0.0, + "unit": null + }, + "grasp_depth_search_m_cube": { + "value": 0.0, + "unit": null + }, + "close_blocked_by_object_cube": { + "value": true, + "unit": null + }, + "close_joint_actual_cube_Jaw_Drive": { + "value": 0.046596817672252655, + "unit": null + }, + "close_joint_fraction_cube": { + "value": 0.08633689130216284, + "unit": null + }, + "object_lateral_drift_after_close_cube": { + "value": 0.0005375768689286283, + "unit": null + }, + "object_z_drift_from_spawn_after_close_cube": { + "value": -0.005117816776037211, + "unit": null + }, + "grip_confirmed_contact_cube": { + "value": true, + "unit": null + }, + "grip_object_retained_cube": { + "value": true, + "unit": null + }, + "vertical_follow_dz_m_cube": { + "value": 0.003176908940076828, + "unit": null + }, + "horizontal_drift_m_cube": { + "value": 0.007383811251912921, + "unit": null + }, + "pre_load_dz_m_cube": { + "value": 6.407126784324646e-05, + "unit": null + }, + "shake_object_min_z_cube": { + "value": 0.20017462968826294, + "unit": null + }, + "shake_max_relative_slip_m_cube": { + "value": 0.0001573413610458374, + "unit": null + }, + 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+ "carrier_z": { + "unit": "stage_length", + "source": "carrier runtime world position" + }, + "relative_z": { + "unit": "stage_length", + "source": "object Z minus carrier Z; not baseline-corrected slip" + }, + "finger_separation": { + "unit": "stage_length", + "source": "runtime fingertip link separation" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "clock_basis": "Kit timeline clock, not a solver execution clock", + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "capture_time_basis": "successful capture after retained observation; not encoded frame time/index", + "sample_stride": 4, + "sampling_basis": "every fourth callback and phase transitions" + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 491, + "json": "motion_history/gripper_cube.json", + "csv": "motion_history/gripper_cube.csv" + }, + "unit": null + }, + "motion_history_gripper_probe_joint_001": { + "value": { + "schema_version": 1, + "name": "gripper_probe_joint_001", + "channels": { + "target": { + "unit": "unknown_native", + "source": "actual sparse endpoint-probe command" + }, + "position": { + "unit": "unknown_native", + "source": "existing post-step articulation position readback" + }, + "error": { + "unit": "unknown_native", + "source": "probe target minus achieved position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "joint identity/type unresolved; native tensor units not inferred", + "identity_resolved": false, + "dof_index": 1, + "trial_index": 0, + "trial_shape": "cube", + "trial_number": 1, + "shape": "cube", + "clock_basis": "Kit timeline clock, not a solver execution clock", + "observation_basis": "existing post-step joint readback; no additional physics ticks" + }, + "clock_source": "timeline", + "stop_reason": "mapping_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 90, + "json": "motion_history/gripper_probe_joint_001.json", + "csv": "motion_history/gripper_probe_joint_001.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_joint_000": { + "value": { + "schema_version": 1, + "name": "gripper_cube_joint_000", + "channels": { + "position": { + "unit": "unknown_native", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 250.0, + "max_force": 200.0 + }, + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 406, + "json": "motion_history/gripper_cube_joint_000.json", + "csv": "motion_history/gripper_cube_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_cube_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_cube_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "cube", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_4" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_cube_contacts.json", + "csv": "motion_history/gripper_cube_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_sphere", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 81.485, + "message": "", + "metrics": { + "gripper_max_opening_m": { + "value": 0.09000000357627869, + "unit": null + }, + "gripper_max_payload_kg": { + "value": 0.4000000059604645, + "unit": null + }, + "used_heuristic_payload": { + "value": false, + "unit": null + }, + "tested_object_mass_kg": { + "value": 0.20000000298023224, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 3.706, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 29, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 127.79, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.125, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": 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"partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 407, + "json": "motion_history/gripper_sphere_joint_000.json", + "csv": "motion_history/gripper_sphere_joint_000.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_4" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 341.0, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 17.985, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 399.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.235, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_trans_pct": { + "value": 41.9, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_m": { + "value": 0.1217, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_stage_units": { + "value": 0.051000459669272004, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_diagonal_stage_units": { + "value": 0.12171694597547038, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 41.9, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.1217, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.05100043863058193, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.12171695163735248, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "HUB_GBA_2_TRANS_3", + "authored_joint_name": "HUB_GBA_2_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/HUB_GBA_2_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "HUB_GBA_2_TRANS_3", + "authored_joint_name": "HUB_GBA_2_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/HUB_GBA_2_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 108.313, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.659, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 170.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.062, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_trans_pct": { + "value": 41.89, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_m": { + "value": 0.1217, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_stage_units": { + "value": 0.05098523199558259, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_diagonal_stage_units": { + "value": 0.1217169626824999, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 41.85, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.1217, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.05094394832849503, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.12171695843787314, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 99.8, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 2, + "unit": null + }, + "jm_joints_passed": { + "value": 2, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_HUB_GBA_2_TRANS_3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "HUB_GBA_2_TRANS_3", + "authored_joint_name": "HUB_GBA_2_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/HUB_GBA_2_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1496200_EGU_50_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1491540_EGU_50_EI_M_B_000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 57.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 29.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 990.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.203, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.830497, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.036171, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 57.469, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 29.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 990.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.203, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.965517, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 28, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.830497, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.036171, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.235, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.563, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1912.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 9, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 59, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 56114, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 48.235, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.563, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1912.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 9, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 9, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 59, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 56114, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.219, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.415433843824946, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.842, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 210.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.703, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_max_error_rad": { + "value": 7.380820054421044e-05, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_mean_error_rad": { + "value": 2.598869989957331e-06, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_ref_swept_rad": { + "value": 0.04496686611673795, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_follower_observed_rad": { + "value": 0.04504274060309399, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_follower_expected_rad": { + "value": 0.04496686611673795, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_motion_ratio": { + "value": 1.001687342101161, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_gear_ratio_error": { + "value": 0.001687342101160949, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_abs_formula_max_error_rad": { + "value": 7.380695024039596e-05, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_rest_residual_rad": { + "value": 1.250303814474829e-09, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "HUB_GBA_2_TRANS_3", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 1275.0, + "max_force": 150.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "HUB_GBA_2_TRANS_3", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "HUB_GBA_2_TRANS_3", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/HUB_GBA_2_TRANS_3", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 43.609, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 1, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.781, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 4, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 195.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.86, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_max_error_rad": { + "value": 0.0014004108977450774, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_mean_error_rad": { + "value": 0.0003824408678963255, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_ref_swept_rad": { + "value": 0.045564810396172106, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_follower_observed_rad": { + "value": 0.04386421956587583, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_follower_expected_rad": { + "value": 0.045564810396172106, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_motion_ratio": { + "value": 0.9626775396295922, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_gear_ratio_error": { + "value": 0.03732246037040776, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_abs_formula_max_error_rad": { + "value": 0.001400410896167159, + "unit": null + }, + "mim_pair_HUB_GBA_2_TRANS_3_rest_residual_rad": { + "value": 1.5779183515363115e-12, + "unit": null + }, + "mim_pairs_passed": { + "value": 1, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "HUB_GBA_2_TRANS_3", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 0.0, + "max_force": 20.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "HUB_GBA_2_TRANS_3", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "HUB_GBA_2_TRANS_3", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/HUB_GBA_2_TRANS_3", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 3.813, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 28.188, + "message": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 2, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/2 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 2\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.375, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 14.671, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1833.88, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.797, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + 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1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 1275.0, + "max_force": 150.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.641, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.516, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 151.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.656, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.0045268892993257995, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.219, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.415433843824946, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.406, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 406.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4000.0, + "damping": 250.0, + "max_force": 200.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 29.765, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 1, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.41543382030192855, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.516, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 258.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.469, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 41, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_validation.json b/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..c69273bcac11caebdff7906fb9ad4a9d95b382a4 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/.metadata/schunk_egu_50_schunk_egu_50_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/schunk_egu_50.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + 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b/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBRBase.mdl b/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/aux_definitions.mdl b/schunk_egu_50_schunk_egu_50/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/core_definitions.mdl b/schunk_egu_50_schunk_egu_50/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/license.txt b/schunk_egu_50_schunk_egu_50/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/schunk_egu_50_schunk_egu_50/materials/mdl/support_definitions.mdl b/schunk_egu_50_schunk_egu_50/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/schunk_egu_50_schunk_egu_50/payloads/Fingers/default_fingers.usda b/schunk_egu_50_schunk_egu_50/payloads/Fingers/default_fingers.usda new file mode 100644 index 0000000000000000000000000000000000000000..dee7345a780352e0612b8d52863e2fecbac9aa3d --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Fingers/default_fingers.usda @@ -0,0 +1,34 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egu_50" ( + customData = { + string[] variantPrimPaths = ["SCHUNK_1496200_EGU_50_3/fingerconnector", "SCHUNK_1496200_EGU_50_4/fingerconnector"] + } +) +{ + over "SCHUNK_1496200_EGU_50_3" + { + over "fingerconnector" ( + prepend references = @./dependencies/schunk_fgr_1.usd@ + ) + { + } + } + + over "SCHUNK_1496200_EGU_50_4" + { + over "fingerconnector" ( + prepend references = @./dependencies/schunk_fgr_1.usd@ + ) + { + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Fingers/dependencies/schunk_fgr_1.usd b/schunk_egu_50_schunk_egu_50/payloads/Fingers/dependencies/schunk_fgr_1.usd new file mode 100644 index 0000000000000000000000000000000000000000..102316ab82f0bdc666fa75e758c15b3e3ac39720 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Fingers/dependencies/schunk_fgr_1.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ec18f811eb8d0f24c9c4918414a628101831d355f0dbe94d732e0d67c1f1cb6 +size 238190 diff --git a/schunk_egu_50_schunk_egu_50/payloads/Fingers/none.usda b/schunk_egu_50_schunk_egu_50/payloads/Fingers/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..a60c6e0f4c16fae6782446fd7a2b73347c0a7512 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Fingers/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egu_50" +{ +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Physics/mujoco.usda b/schunk_egu_50_schunk_egu_50/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..dbcf882079c0ee3772ad2753d53b8a2f520371ff --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Physics/mujoco.usda @@ -0,0 +1,235 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egu_50" +{ + over "SCHUNK_1496200_EGU_50_3" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + } + } + + over "visuals" + { + over "SCHUNK_1496200_EGU_50_16" + { + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_16" + { + } + } + } + + over "SCHUNK_1496200_EGU_50_4" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + } + } + + over "visuals" + { + over "SCHUNK_1496200_EGU_50_17" + { + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_17" + { + } + } + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_0" + { + } + + over "visuals" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" + { + } + } + + over "collisions" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" + { + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" + { + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" + { + } + } + } + + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "Jaw_Drive" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"] + ) + { + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Physics/none.usda b/schunk_egu_50_schunk_egu_50/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..a60c6e0f4c16fae6782446fd7a2b73347c0a7512 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egu_50" +{ +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Physics/physics.usda b/schunk_egu_50_schunk_egu_50/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcf06904b67d4c42fc0875a3bfcd833099da8f00 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Physics/physics.usda @@ -0,0 +1,346 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egu_50" +{ + over "SCHUNK_1496200_EGU_50_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.03 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.036 + + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + instanceable = false + ) + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = false + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_16" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1496200_EGU_50_4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.03 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.036 + + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + instanceable = false + ) + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = false + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_17" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 1.43 + + over "collisions" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" ( + instanceable = false + ) + { + over "mesh_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" ( + instanceable = false + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" ( + instanceable = false + ) + { + over "mesh_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" ( + instanceable = false + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" ( + instanceable = false + ) + { + over "mesh_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" ( + instanceable = false + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" ( + instanceable = false + ) + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + instanceable = false + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = false + ) + { + over "mesh_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = false + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = false + ) + { + over "mesh_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = false + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" ( + instanceable = false + ) + { + over "mesh_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" ( + instanceable = false + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" ( + instanceable = false + ) + { + over "mesh_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "joints" + { + def PhysicsPrismaticJoint "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (-12.58, 83, -25.5) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.051 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "Jaw_Drive" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 250 + float drive:linear:physics:maxForce = 200 + float drive:linear:physics:stiffness = 4000 + float drive:linear:physics:targetPosition = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (12.58, 83, 25.5) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-4.371139e-8, -1, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.051 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Physics/physx.usda b/schunk_egu_50_schunk_egu_50/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..a3856e52065327eddd203c29a8dae2561aa61133 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Physics/physx.usda @@ -0,0 +1,43 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "schunk_egu_50" +{ + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Robot/none.usda b/schunk_egu_50_schunk_egu_50/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..a60c6e0f4c16fae6782446fd7a2b73347c0a7512 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egu_50" +{ +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Robot/robot.usda b/schunk_egu_50_schunk_egu_50/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..921dff3b53f30e6c3610ac4b364862dd9670304a --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Robot/robot.usda @@ -0,0 +1,82 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egu_50" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + ] + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "SCHUNK_1496200_EGU_50_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "SCHUNK_1496200_EGU_50_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Sensor/none.usda b/schunk_egu_50_schunk_egu_50/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..a60c6e0f4c16fae6782446fd7a2b73347c0a7512 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_egu_50" +{ +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/Sensor/sensors.usda b/schunk_egu_50_schunk_egu_50/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..b3babf473b575d5c9e1dafa66deaeb40b3578348 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egu_50" +{ +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/base.usda b/schunk_egu_50_schunk_egu_50/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..b814f2ef0088f02f77ce34c0776ba2a062f13885 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/base.usda @@ -0,0 +1,563 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "schunk_egu_50" ( + customData = { + string[] variantPrimPaths = ["SCHUNK_1496200_EGU_50_3/fingerconnector", "SCHUNK_1496200_EGU_50_4/fingerconnector"] + } +) +{ + quatd xformOp:orient = (0.7071067811865476, 0.7071067811865475, 0, 0) + double3 xformOp:scale = (0.001, 0.001, 0.001) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK_1496200_EGU_50_3" + { + quatd xformOp:orient = (-4.371138828673793e-8, -1, -0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (12.579999923706055, 83, 25.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 1, 0, 0) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -9.5, 18) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "SCHUNK_1504612_ZBA_EGU_50_15" ( + apiSchemas = None + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.5, -0.5, 0.5, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-12.5, 0, -25.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_1496200_EGU_50_16" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 1, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (1.000000012e-7, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1496200_EGU_50_16" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 1, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (1.000000012e-7, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "SCHUNK_1496200_EGU_50_4" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-12.579999923706055, 83, -25.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 6.123233995736766e-17, 1, -6.123233995736766e-17) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 9.5, 18) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "SCHUNK_1504612_ZBA_EGU_50_15" ( + apiSchemas = None + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.5, -0.5, 0.5, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-12.5, 0, -25.05) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_1496200_EGU_50_17" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0, 1, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-1.000000012e-7, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1496200_EGU_50_17" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0, 1, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-1.000000012e-7, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.09 + custom float gripper_maxPayload = 0.4 + string isaac:Description = "Gripper grasp point" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 115, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 50, 0)] + point3f[] points = [(0, 0, 0), (0, 50, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-25, 0, 0), (25, 0, 0)] + point3f[] points = [(-25, 0, 0), (25, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + prepend apiSchemas = ["MaterialBindingAPI"] + instanceable = true + prepend references = @./instances.usda@ + ) + { + rel material:binding ( + bindMaterialAs = "weakerThanDescendants" + ) + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_15" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, 0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_14" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9905503_Typenschild_11x43x0_3_15" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 0.7071067812, 0, -0.7071067812) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-35.29999924, 70.09999847, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Scope "joints" + { + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/geometries.usd b/schunk_egu_50_schunk_egu_50/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..b05fe21f3c8b10d259d71c9e0487b1f7d033a370 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d8ef307347ef65e978a128581486288bec72d2bdc8edbf87f0d1e90d8b52e72 +size 993917 diff --git a/schunk_egu_50_schunk_egu_50/payloads/instances.usda b/schunk_egu_50_schunk_egu_50/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..8fd0f17f247fc46444decaaaf7b1f03519dba6d6 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/instances.usda @@ -0,0 +1,1035 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend references = @./geometries.usd@ + ) + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_2_008" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_1_014" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_2_008" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_1_014" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69411767, 0.7529412, 0.77254903) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "SCHUNK_1504612_ZBA_EGU_50_15_1" ( + prepend references = @./geometries.usd@ + ) + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + token visibility = "inherited" + + over "Material_2_008" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_1_014" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_2_008" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_1_014" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69411767, 0.7529412, 0.77254903) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend references = @./geometries.usd@ + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_2_005" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_1_009" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_2_005" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_1_009" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_gray" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } + + def Xform "mesh_11" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_11" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_cyan" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_11_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_11" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + } + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/materials.usda b/schunk_egu_50_schunk_egu_50/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..91dc7b1cd1c9d52060e2a94c0b32800a438896ed --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/materials.usda @@ -0,0 +1,1531 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Material_2_008" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_2_008" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_1_014" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_1_014" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69411767, 0.7529412, 0.77254903) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69411767, 0.7529412, 0.77254903) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_2_005" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_2_005" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_1_009" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_1_009" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_black" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.000001, 9.9999e-7, 9.9999e-7) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:reflection_roughness_constant = 1 + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1e-12, 9.999799e-13, 9.999799e-13) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 1 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + token outputs:mdl:surface.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "simready_preview_surfaceshader" + { + uniform token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5, 0.5, 0.5) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "simready_mdl_surfaceshader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) + token outputs:out + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_light_gray" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8901961, 0.8901961, 0.8901961) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_dark_blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + float inputs:albedo_add = 0 + float inputs:albedo_brightness = 1 + float inputs:albedo_desaturation = 0 + color3f inputs:diffuse_color_constant = (0, 0.23921569, 0.41568628) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:metallic_constant = 0 + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + bool inputs:project_uvw = 0 + float inputs:reflection_roughness_constant = 0.5 + float inputs:round_edges_radius = 0 + float inputs:specular_level = 0.5 + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + int inputs:uv_space_index = 0 + bool inputs:world_or_object = 0 + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_white" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_cyan" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.61960787, 0.8784314) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/payloads/robot.usda b/schunk_egu_50_schunk_egu_50/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..19ab49b96013bcd078dcd16fefb215dce84b8f7e --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/payloads/robot.usda @@ -0,0 +1,115 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egu_50" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "SCHUNK_1496200_EGU_50_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1496200_EGU_50_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/schunk_egu_50_schunk_egu_50/runnables/physics/mujoco.usda b/schunk_egu_50_schunk_egu_50/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..ff48c98ab3e4c97733e3e456f45cad1eb58c9f2c --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/runnables/physics/mujoco.usda @@ -0,0 +1,285 @@ +#usda 1.0 +( + defaultPrim = "schunk_egu_50" +) + +def "schunk_egu_50" +{ + over "SCHUNK_1496200_EGU_50_3" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_16" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1496200_EGU_50_4" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_17" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" + { + over "mesh_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" + { + over "mesh_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" + { + over "mesh_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" + { + over "mesh_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_11" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" + { + over "mesh_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" + { + over "mesh_11" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_0" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_schunk_egu_50_joints_Jaw_Drive" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -4000, -250] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 200 + double mjc:forceRange:min = -200 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/runnables/physics/newton.usda b/schunk_egu_50_schunk_egu_50/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..9b1c841bb6e6365a54cf7f7a51238295ae8d1e07 --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/runnables/physics/newton.usda @@ -0,0 +1,276 @@ +#usda 1.0 +( + defaultPrim = "schunk_egu_50" +) + +over "schunk_egu_50" +{ + over "SCHUNK_1496200_EGU_50_3" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_16" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1496200_EGU_50_4" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_17" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" + { + over "mesh_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" + { + over "mesh_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" + { + over "mesh_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" + { + over "mesh_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_11" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" + { + over "mesh_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" + { + over "mesh_11" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.1 + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 20 + float drive:linear:physics:stiffness = 6000 + float newton:damping = 250 + float newton:velocityLimit = 0.1 + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/runnables/physics/physx.usda b/schunk_egu_50_schunk_egu_50/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..6766b77a95dd96f3d6c32baaaaab935162e374bb --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/runnables/physics/physx.usda @@ -0,0 +1,247 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_egu_50" +{ + over "joints" + { + over "HUB_GBA_2_TRANS_3" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 1 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 60 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 1 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "SCHUNK_1496200_EGU_50_3" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_16" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1496200_EGU_50_4" + { + over "fingerconnector" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" + { + over "SCHUNK_1504612_ZBA_EGU_50_15" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1496200_EGU_50_17" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1491540_EGU_50_EI_M_B_000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_1" + { + over "mesh_1" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_2" + { + over "mesh_2" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_3" + { + over "mesh_3" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_4" + { + over "mesh_4" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_5" + { + over "mesh_5" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_6" + { + over "mesh_6" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EGU_50_PN_EI_04125_5_7" + { + over "mesh_7" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_8" + { + over "mesh_8" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_9" + { + over "mesh_9" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_10" + { + over "mesh_10" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_11" + { + over "mesh_11" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_12" + { + over "mesh_8" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_13" + { + over "mesh_9" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_14" + { + over "mesh_10" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9905503_Typenschild_11x43x0_3_15" + { + over "mesh_11" + { + token physics:approximation = "convexHull" + } + } + } + } +} + diff --git a/schunk_egu_50_schunk_egu_50/schunk_egu_50.usda b/schunk_egu_50_schunk_egu_50/schunk_egu_50.usda new file mode 100644 index 0000000000000000000000000000000000000000..005c6b36b6d6246a110ab86f4bce523ab53f15bb --- /dev/null +++ b/schunk_egu_50_schunk_egu_50/schunk_egu_50.usda @@ -0,0 +1,1789 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/schunk_egu_50" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/schunk_egu_50" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/schunk_egu_50" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.072001, 0.140301, 0.1375) + string asset_license = "CC-BY-4.0" + string asset_name = "schunk_egu_50" + string asset_type = "robot" + string author = "Schunk" + string category = "robot end effector" + double mass = 1.489999946206808 + string qcode = "Q1340324" + int rigid_body_count = 3 + string source_file = "Schunk/egu_50/schunk_egu_50/schunk_egu_50.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "schunk_egu_50" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_egu_50" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string Fingers = "none" + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "Fingers", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "SCHUNK_1496200_EGU_50_3" + { + matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, -8.74227766730557e-11, -0.000999999999999997, 0), (0, 0.000999999999999997, -8.74227766730557e-11, 0), (0.012579999923706056, -0.025499999999999984, 0.083, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "collisions" + { + token visibility = "invisible" + + over "SCHUNK_1496200_EGU_50_16" + { + over "mesh" + { + normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 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) + } + } + } + } + variantSet "Robot" = { + "none" ( + prepend payload = @./payloads/Robot/none.usda@ + ) { + + } + "robot" ( + prepend payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "Fingers" = { + "default_fingers" ( + prepend payload = @./payloads/Fingers/default_fingers.usda@ + ) { + + } + "none" ( + prepend payload = @./payloads/Fingers/none.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..676521823460295413e7223e6c03ba0ffc3b68f6 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:48", + "assets": [ + { + "asset": "schunk_ezu_35.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "54717006bca5d494664df222bfe54cd2fd2d7867a03f88f2c68bc304d3e799bf" + } +} diff --git a/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json new file mode 100644 index 0000000000000000000000000000000000000000..52010e6f6de4304376ab7bbef9bc672e120b8ad4 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -0,0 +1,31 @@ +{ + "format_version": "1.0", + "profile": "Package", + "profile_version": "1.1.0", + "timestamp": "2026-11-04T23:10:50", + "assets": [ + { + "asset": "com.nvidia.simready.packaging.json", + "features": [ + { + "CAP030_PackagingCore.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { + "version": "0.0.0", + "passed": true, + 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_benchmark.json b/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..cb681304193a58ee1a6974f5ada7da58f2045c4d --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_benchmark.json @@ -0,0 +1,8680 @@ +{ + "schema_version": "1.0", + "asset": "schunk_ezu_35_schunk_ezu_35", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.906, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.75, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 984.38, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.39, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "culling_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.906, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.75, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 984.38, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.39, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + "unit": null + }, + "culling_xz_coverage_complete": { + "value": 1, + "unit": null + }, + "culling_xz_max_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_mean_diff": { + "value": 0.0, + "unit": null + }, + "culling_xz_worst_angle": { + "value": 0.0, + "unit": null + }, + "culling_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.656, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 45, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 16, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 16, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.297, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 185.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 73968, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 74232, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.126, + 0.126, + 0.1266 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 4.1e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.500703, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 31.656, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 45, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 16, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 16, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.297, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 185.29, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.688, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 73968, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 74232, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.126, + 0.126, + 0.1266 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 4.1e-05, + "unit": null + }, + "display_color_response_ratio": { + "value": 1.0, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.500703, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 5.609, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.437, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 437.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.656, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 300.0, + "max_force": 300.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.03500000014901161, + "start": 4.1758999036467515e-10, + "tolerance": 0.0017499999865710813 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "drive_gain_validation_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.609, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 1, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 2, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.5, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 250.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.703, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 1, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 1, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 0.0, + "max_force": 20.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.03500000014901161, + "start": 3.650145519173975e-09, + "tolerance": 0.0017499998249433048 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 126, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 20.015, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Jaw_Drive", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "direction": "-XZ", + "world_com": [ + -6.769550866656518e-08, + 0.03499890135593345, + 0.12500895874592055 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.001, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 166.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.766, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "runtime_lower": 0.0, + "runtime_upper": 0.03500000014901161, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 480.0, + "max_force": 200.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.515, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 1, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.091, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 12, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 174.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.157, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Jaw_Drive", + "broke_directions": [], + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "eff_joints_tested": { + "value": 1, + "unit": null + }, + "eff_joints_passed": { + "value": 1, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_failure_names": { + "value": [], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "runtime_lower": 0.0, + "runtime_upper": 0.03500000014901161, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.5, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1248, + "planned_nominal_ticks_estimate": 1248, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 33.43799999996554, + "setup_elapsed_wall_seconds": 1.937999999965541, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3326.5620000000345, + "observed_service_seconds_per_nominal_tick": 0.025240384615384616, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 28.48299999977462, + "attempts": 1248 + }, + "captures": { + "wall_seconds": 1.1890000000130385, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.6280000001424924, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.06299999996554106, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.10700000007636845, + "attempts": 1018 + }, + "commands": { + "wall_seconds": 0.2809999999590218, + "attempts": 1008 + }, + "encoding": { + "wall_seconds": 0.6720000000204891, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 3, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.005888275966820994, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 2.1673438044267357e-10, + "observed_start": 2.1673438044267357e-10, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0002514399993404775 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.03150000013411045, + "observed_start": 0.0314766950905323, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00022331619713766848 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0035000000149011615, + "observed_start": 0.0035205434542149305, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.810176019458349e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.189, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 132.11, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.672, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.03500000014901161, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 900.0, + "max_force": 150.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 24.391, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 5.233333333333333, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 1256, + "planned_nominal_ticks_estimate": 1728, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 24.28200000000652, + "setup_elapsed_wall_seconds": 14.827999999979511, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3335.7179999999935, + "observed_service_seconds_per_nominal_tick": 0.007527070063715771, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 2.3299999999580905, + "attempts": 1256 + }, + "captures": { + "wall_seconds": 1.4239999998826534, + "attempts": 9 + }, + "bounds": { + "wall_seconds": 0.8139999997802079, + "attempts": 46 + }, + "camera": { + "wall_seconds": 0.12300000002142042, + "attempts": 900 + }, + "optional_motion": { + "wall_seconds": 0.8279999998630956, + "attempts": 1026 + }, + "commands": { + "wall_seconds": 2.8570000005420297, + "attempts": 1016 + }, + "encoding": { + "wall_seconds": 0.7820000000065193, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 3, + "unit": null + }, + "frs_joints_tested": { + "value": 1, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 2, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "frs_bbox_baseline_volume": { + "value": 0.005888275757314504, + "unit": null + }, + "frs_segment_timing": { + "value": [ + { + "joint": "Jaw_Drive", + "segment": "to_max", + "requested_start": 2.0370018172233273e-11, + "observed_start": 2.0370018172233273e-11, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00025144000090790143 + }, + { + "joint": "Jaw_Drive", + "segment": "to_min", + "requested_start": 0.03150000013411045, + "observed_start": 0.03149294853210449, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00022344593571921312 + }, + { + "joint": "Jaw_Drive", + "segment": "to_zero", + "requested_start": 0.0035000000149011615, + "observed_start": 0.003506268374621868, + "ramp_seconds": 1.25, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 2.7987813337009004e-05 + } + ], + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.408, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 9, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 156.44, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.782, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "frs_segment_timing_omitted": { + "value": 0, + "unit": null + }, + "frs_joints_passed": { + "value": 1, + "unit": null + }, + "frs_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_frs_joint_001": { + "value": { + "schema_version": 1, + "name": "frs_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "current sweep segment destination" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.03500000014901161, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 0.10000000149011612, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_001.json", + "csv": "motion_history/frs_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": 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\"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, 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"timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 75, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 187.14, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 9.469, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 210.42, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.797, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_trans_pct": { + "value": 36.46, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_m": { + "value": 0.096, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_stage_units": { + "value": 0.03500034473595218, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_diagonal_stage_units": { + "value": 0.0960003082377018, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_GBA2_TRANS_2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_trans_pct": { + "value": 36.46, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_m": { + "value": 0.096, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_stage_units": { + "value": 0.03500032100224722, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_diagonal_stage_units": { + "value": 0.09600030929191454, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_GBA3_TRANS_3_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 40.47, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.0865, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.035000417381537724, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.08648012428911206, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 3, + "unit": null + }, + "jm_joints_passed": { + "value": 3, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA2_TRANS_2", + "authored_joint_name": "GBA2_TRANS_2", + "prim_path": "/World/AssetRoot/Asset/joints/GBA2_TRANS_2", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA3_TRANS_3", + "authored_joint_name": "GBA3_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/GBA3_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_probe", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + }, + "motion_history_joint_movement_003": { + "value": { + "schema_version": 1, + "name": "joint_movement_003", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA2_TRANS_2", + "authored_joint_name": "GBA2_TRANS_2", + "prim_path": "/World/AssetRoot/Asset/joints/GBA2_TRANS_2", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_003.json", + "csv": "motion_history/joint_movement_003.csv" + }, + "unit": null + }, + "motion_history_joint_movement_004": { + "value": { + "schema_version": 1, + "name": "joint_movement_004", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA3_TRANS_3", + "authored_joint_name": "GBA3_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/GBA3_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_004.json", + "csv": "motion_history/joint_movement_004.csv" + }, + "unit": null + }, + "motion_history_joint_movement_005": { + "value": { + "schema_version": 1, + "name": "joint_movement_005", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_005.json", + "csv": "motion_history/joint_movement_005.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 86.969, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.695, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 171.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_trans_pct": { + "value": 36.45, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_m": { + "value": 0.096, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_stage_units": { + "value": 0.03498988627497992, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_diagonal_stage_units": { + "value": 0.09600031545926993, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA2_TRANS_2_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_GBA2_TRANS_2_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_trans_pct": { + "value": 36.45, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_m": { + "value": 0.096, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_stage_units": { + "value": 0.03498988627497992, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_diagonal_stage_units": { + "value": 0.09600031545926993, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_GBA3_TRANS_3_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_GBA3_TRANS_3_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Jaw_Drive_rot_deg": { + "value": 0.0, + "unit": null + }, + "jm_joint_Jaw_Drive_trans_pct": { + "value": 40.43, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_m": { + "value": 0.0865, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_stage_units": { + "value": 0.03496191278100013, + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_stage_units": { + "value": 0.08648012882883792, + "unit": null + }, + "jm_joint_Jaw_Drive_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Jaw_Drive_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Jaw_Drive_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Jaw_Drive_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joints_total": { + "value": 3, + "unit": null + }, + "jm_joints_passed": { + "value": 3, + "unit": null + }, + "jm_joints_failed": { + "value": 0, + "unit": null + }, + "jm_joint_GBA2_TRANS_2_status": { + "value": "passed", + "unit": null + }, + "jm_joint_GBA3_TRANS_3_status": { + "value": "passed", + "unit": null + }, + "jm_joint_Jaw_Drive_status": { + "value": "passed", + "unit": null + }, + "motion_history_joint_movement_000": { + "value": { + "schema_version": 1, + "name": "joint_movement_000", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA2_TRANS_2", + "authored_joint_name": "GBA2_TRANS_2", + "prim_path": "/World/AssetRoot/Asset/joints/GBA2_TRANS_2", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_3", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_000.json", + "csv": "motion_history/joint_movement_000.csv" + }, + "unit": null + }, + "motion_history_joint_movement_001": { + "value": { + "schema_version": 1, + "name": "joint_movement_001", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "GBA3_TRANS_3", + "authored_joint_name": "GBA3_TRANS_3", + "prim_path": "/World/AssetRoot/Asset/joints/GBA3_TRANS_3", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_4", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_001.json", + "csv": "motion_history/joint_movement_001.csv" + }, + "unit": null + }, + "motion_history_joint_movement_002": { + "value": { + "schema_version": 1, + "name": "joint_movement_002", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Jaw_Drive", + "authored_joint_name": "Jaw_Drive", + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "child_body_path": "/World/AssetRoot/Asset/SCHUNK_1582927_EZU_GBA_35_2", + "parent_body_path": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "reference_frame": "/World/AssetRoot/Asset/SCHUNK_1582096_EZU_35_MB_N_B__000ohne0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_002.json", + "csv": "motion_history/joint_movement_002.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 37.641, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 19.079, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 635.97, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.407, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 1.0, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.763886, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.053621, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 37.641, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 19.079, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 635.97, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.407, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 1.0, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.763886, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.053621, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.75, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 587.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 7, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 110653, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 26.75, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 587.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 7, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 110653, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 32.64, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 2, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.143, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 142.88, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.594, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_max_error_rad": { + "value": 0.0001256770080526881, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_mean_error_rad": { + "value": 3.5508812100022713e-06, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_ref_swept_rad": { + "value": 0.030969196872320026, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_follower_observed_rad": { + "value": 0.03109637156012468, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_follower_expected_rad": { + "value": 0.030969196872320026, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_motion_ratio": { + "value": 1.0041064896945495, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_gear_ratio_error": { + "value": 0.00410648969454952, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_abs_formula_max_error_rad": { + "value": 0.00012567712110467255, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_rest_residual_rad": { + "value": 1.1305198444055975e-10, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_max_error_rad": { + "value": 2.966495230793953e-06, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_mean_error_rad": { + "value": 1.4830875443294644e-06, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_ref_swept_rad": { + "value": 0.02783141960389912, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_follower_observed_rad": { + "value": 0.027834039879962802, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_follower_expected_rad": { + "value": 0.02783141960389912, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_motion_ratio": { + "value": 1.0000941481283014, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_gear_ratio_error": { + "value": 9.414812830144115e-05, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_abs_formula_max_error_rad": { + "value": 1.4901161193847656e-06, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_rest_residual_rad": { + "value": 1.4763791114091873e-06, + "unit": null + }, + "mim_pairs_passed": { + "value": 2, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA2_TRANS_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 480.0, + "max_force": 200.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA2_TRANS_2", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "GBA2_TRANS_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/GBA2_TRANS_2", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + }, + "motion_history_mim_reference_002": { + "value": { + "schema_version": 1, + "name": "mim_reference_002", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA3_TRANS_3", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2000.0, + "damping": 480.0, + "max_force": 200.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_002.json", + "csv": "motion_history/mim_reference_002.csv" + }, + "unit": null + }, + "motion_history_mim_follower_002": { + "value": { + "schema_version": 1, + "name": "mim_follower_002", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA3_TRANS_3", + "gearing": -1.0, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "GBA3_TRANS_3", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/GBA3_TRANS_3", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_002.json", + "csv": "motion_history/mim_follower_002.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 44.234, + "message": "", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 2, + "unit": null + }, + "mim_skipped_pairs": { + "value": 0, + "unit": null + }, + "mimic_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.279, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 159.88, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.891, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_max_error_rad": { + "value": 0.000520673347637059, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_mean_error_rad": { + "value": 0.00013174366661890667, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_ref_swept_rad": { + "value": 0.031254901114152744, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_follower_observed_rad": { + "value": 0.030735780630493537, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_follower_expected_rad": { + "value": 0.031254901114152744, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_motion_ratio": { + "value": 0.98339074944556, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_gear_ratio_error": { + "value": 0.016609250554439958, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_abs_formula_max_error_rad": { + "value": 0.0005206733476370573, + "unit": null + }, + "mim_pair_GBA2_TRANS_2_rest_residual_rad": { + "value": 1.734723475976807e-18, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_max_error_rad": { + "value": 0.0004540798254311085, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_mean_error_rad": { + "value": 0.00021673204901162535, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_ref_swept_rad": { + "value": 0.027687832014635205, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_follower_observed_rad": { + "value": 0.027216957416385412, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_follower_expected_rad": { + "value": 0.027687832014635205, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_dir_matches_gear": { + "value": 1, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_motion_ratio": { + "value": 0.9829934464352102, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_gear_ratio_error": { + "value": 0.01700655356478975, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_abs_formula_max_error_rad": { + "value": 0.00024030450731515884, + "unit": null + }, + "mim_pair_GBA3_TRANS_3_rest_residual_rad": { + "value": 0.00021377811208367348, + "unit": null + }, + "mim_pairs_passed": { + "value": 2, + "unit": null + }, + "mim_pairs_failed": { + "value": 0, + "unit": null + }, + "motion_history_mim_reference_001": { + "value": { + "schema_version": 1, + "name": "mim_reference_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA2_TRANS_2", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": "motion_history/mim_reference_001.csv" + }, + "unit": null + }, + "motion_history_mim_follower_001": { + "value": { + "schema_version": 1, + "name": "mim_follower_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA2_TRANS_2", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "GBA2_TRANS_2", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/GBA2_TRANS_2", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_001.json", + "csv": "motion_history/mim_follower_001.csv" + }, + "unit": null + }, + "motion_history_mim_reference_002": { + "value": { + "schema_version": 1, + "name": "mim_reference_002", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA3_TRANS_3", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_002.json", + "csv": "motion_history/mim_reference_002.csv" + }, + "unit": null + }, + "motion_history_mim_follower_002": { + "value": { + "schema_version": 1, + "name": "mim_follower_002", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "unknown_native", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "unknown_native", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "unknown_native", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Jaw_Drive", + "follower_joint_name": "GBA3_TRANS_3", + "gearing": 1.0, + "offset": -0.0, + "mimic_schema_backend": "newton", + "diagnostic_multiplier": 1.0, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "GBA3_TRANS_3", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/GBA3_TRANS_3", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_002.json", + "csv": "motion_history/mim_follower_002.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 2.031, + "message": "MJC: asset has only 1/3 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 3\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 3, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/3 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 3\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE:\n Driven joints: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET022_DrivenJoints.PhysX.md\n Articulation: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/base_articulation/requirements/has-articulation-root.md\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected variant's authored drives and joint limits)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 14.891, + "message": "MJC: asset has only 1/3 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 3\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n", + "metrics": { + "mjc_total_joints": { + "value": 3, + "unit": null + }, + "mjc_valid_joints": { + "value": 1, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "fewer_than_two_independent_coordinates", + "reason": "MJC: asset has only 1/3 joints with qualified bounded excursions; MJC needs at least 2.\n\nWHAT THE TEST FOUND:\n - Articulation DOFs reported by the runtime: 3\n - Eligible DOFs with a safe excursion wider than 1e-6: 1\n - Required by MJC: >= 2 (each driven independently to a mid-range\n target chosen by target_factors x [lower+margin, upper-margin]).\n\nWHY IT MATTERS:\n MJC commands multiple eligible DOFs and checks whether each enters\n its target tolerance band. Finite native ranges retain their stops.\n A uniquely identified unbounded revolute joint can use a local +/-pi\n excursion around its measured start, retaining any finite one-sided\n stop. Signed infinities and float32-max SDK sentinels identify\n unbounded limits; no units are guessed for prismatic/unknown DOFs.\n Unsupported ranges and passive/mimic/loop exclusions do not count.\n\nINSPECT: compare the composed and imported position limits first.\nIf legitimate mechanical limits are missing, author the real values.\nFor PhysicsRevoluteJoint use\nlowerLimit/upperLimit in DEGREES; for PhysicsPrismaticJoint use\nlowerLimit/upperLimit in stage units, not automatically meters.\nAny authored mechanical stops must describe the real increasing range.\n\nILLUSTRATIVE TEMPLATE -- these are not suggested ratings. Pick limits\nthat describe real bounded mechanical travel; continuous revolute joints\ncan retain valid signed infinite endpoints and qualify a local excursion:\n\n def PhysicsRevoluteJoint \"joint_1\"\n {\n uniform token physics:axis = \"Z\"\n float physics:lowerLimit = -170.0 # degrees\n float physics:upperLimit = 170.0 # degrees\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\n def PhysicsPrismaticJoint \"slider_1\"\n {\n uniform token physics:axis = \"X\"\n float physics:lowerLimit = 0.0 # illustrative stage units\n float physics:upperLimit = 0.085 # use real mechanical travel\n # ... body0 / body1 / localPos0 / localPos1 ...\n }\n\nCHECKLIST per joint you expect MJC to drive:\n - physics:axis is set (X / Y / Z).\n - A finite increasing native range, or a uniquely identified\n unbounded revolute joint with a safe local angular excursion.\n - Qualified excursion width > 1e-6 (non-degenerate).\n - Joint is reachable from the articulation root (otherwise the runtime\n will not expose it as a DOF; inspect the articulation-root and joint\n topology requirements).\n\nIntentionally free-running or continuous joints may be valid; identified\nrevolute joints can qualify without invented stops. Unbounded prismatic\nor unidentified DOFs remain outside the safe-excursion scope.\nDo not remove them from the articulation\nor invent limits merely to make the test run.\n\nREFERENCE: simready/foundation/tier_newton/runtime_tests/docs/runtime-tests.md; selected plan and Newton importer/actuator configuration.\n" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.796, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 476.62, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.86, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 9.7e-05, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000753, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 13.796, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 476.62, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.86, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 9.7e-05, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.000753, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.484, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 762.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 7, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 110557, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.484, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.813, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 762.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 7, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 110557, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 62.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 657.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.719, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 62.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.14, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 657.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.719, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.9, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 1, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 0, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.952, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 476.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.321671, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.11, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.952, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 476.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.321671, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.453, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.907, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 381.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "universal_surface_materials_total": { + "value": 7, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 110444, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.453, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.907, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 381.4, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 7, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 7, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 7, + "unit": null + }, + "universal_surface_materials_total": { + "value": 7, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 45, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 110444, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 28.031, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.751, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 175.1, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.407, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 9.765036079400174e-07, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 300.0, + "max_force": 300.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.141, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 1, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.547, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 10, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 154.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 1, + "unit": null + }, + "sta_joints_passed": { + "value": 1, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.003039983797440488, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "unknown_native", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "unknown_native", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "unknown_native", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "unknown_native", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 9.828, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644117000867652, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.391, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 391.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.484, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 6000.0, + "damping": 300.0, + "max_force": 300.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 18.265, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 2, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 1, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 0.7644116550556228, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.39, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 1, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 390.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.469, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 1, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "unknown_native/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "unknown_native", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "unknown_native/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "unknown_native/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Jaw_Drive", + "unit": "unknown_native", + "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/joints/Jaw_Drive", + "native_tensor_package_version": "1.5.0", + "native_tensor_version_source": "loaded newton.__version__", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2500.0, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 30, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_validation.json b/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..6836e57bef230fa2de62c6c909588fe605f84f6f --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/.metadata/schunk_ezu_35_schunk_ezu_35_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/schunk_ezu_35.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + 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b/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBRBase.mdl b/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/aux_definitions.mdl b/schunk_ezu_35_schunk_ezu_35/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/core_definitions.mdl b/schunk_ezu_35_schunk_ezu_35/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/license.txt b/schunk_ezu_35_schunk_ezu_35/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/schunk_ezu_35_schunk_ezu_35/materials/mdl/support_definitions.mdl b/schunk_ezu_35_schunk_ezu_35/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/default.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/default.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcb88c06273f9b09ab44cece73a3407661f69e57 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/default.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/none.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcb88c06273f9b09ab44cece73a3407661f69e57 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Fingers/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Physics/mujoco.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..b74b066218cf21954063cfdc22cf3c40d7f89cae --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/mujoco.usda @@ -0,0 +1,221 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_ezu_35" +{ + over "SCHUNK_1582927_EZU_GBA_35_2" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + } + } + + over "visuals" + { + over "SCHUNK_1582927_EZU_GBA_35_11" + { + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_11" + { + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_3" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + } + } + + over "visuals" + { + over "SCHUNK_1582927_EZU_GBA_35_12" + { + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_12" + { + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" + { + over "fingerconnector" + { + over "Looks" + { + } + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + } + } + + over "visuals" + { + over "SCHUNK_1582927_EZU_GBA_35_13" + { + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_13" + { + } + } + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_0" + { + } + + over "visuals" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + } + } + + over "collisions" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" + { + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" + { + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + } + } + } + + over "joints" + { + over "GBA2_TRANS_2" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "GBA3_TRANS_3" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + } + + over "Jaw_Drive" ( + delete apiSchemas = ["PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"] + ) + { + } + } + + over "root_joint" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Physics/none.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcb88c06273f9b09ab44cece73a3407661f69e57 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physics.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..d85b30fadd411dea1e87424b4c3b257db69550ec --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physics.usda @@ -0,0 +1,327 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_ezu_35" +{ + over "SCHUNK_1582927_EZU_GBA_35_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.1 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.026 + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = false + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_11" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.1 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.026 + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = false + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_12" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.1 + + over "fingerconnector" ( + prepend apiSchemas = ["PhysicsMassAPI"] + ) + { + float physics:mass = 0.026 + + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = false + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_13" ( + instanceable = false + ) + { + over "mesh" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 4 + + over "collisions" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" ( + instanceable = false + ) + { + over "mesh_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" ( + instanceable = false + ) + { + over "mesh_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" ( + instanceable = false + ) + { + over "mesh_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" ( + instanceable = false + ) + { + over "mesh_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" ( + instanceable = false + ) + { + over "mesh_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" ( + instanceable = false + ) + { + over "mesh_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" ( + instanceable = false + ) + { + over "mesh_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" ( + instanceable = false + ) + { + over "mesh_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" ( + instanceable = false + ) + { + over "mesh_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" ( + instanceable = false + ) + { + over "mesh_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + } + } + } + } + + over "joints" + { + def PhysicsPrismaticJoint "GBA2_TRANS_2" ( + prepend apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = inf + float physics:breakTorque = inf + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (30.310888, 125, 17.5) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.8660254, 0, 0.5, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.035 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "GBA3_TRANS_3" ( + prepend apiSchemas = ["PhysicsJointStateAPI:linear"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = inf + float physics:breakTorque = inf + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (-30.310888, 125, 17.5) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.8660254, 0, -0.5, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.035 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + def PhysicsPrismaticJoint "Jaw_Drive" ( + prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] + ) + { + float drive:linear:physics:damping = 300 + float drive:linear:physics:maxForce = 300 + float drive:linear:physics:stiffness = 6000 + float drive:linear:physics:targetPosition = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = inf + float physics:breakTorque = inf + float physics:JointEquivalentInertia = 0 + point3f physics:localPos0 = (0, 125, -35) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-4.371139e-8, -1, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 0.035 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physx.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..dbff81cb94aa5ff4f78b97e07600a84cf1966692 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Physics/physx.usda @@ -0,0 +1,52 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +def "schunk_ezu_35" +{ + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + float physxMimicJoint:rotX:gearing = -1 + rel physxMimicJoint:rotX:referenceJoint = + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 3.4028235e38 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Robot/none.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Robot/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcb88c06273f9b09ab44cece73a3407661f69e57 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Robot/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Robot/robot.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Robot/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..ca022867b855b3e3434b04ec8acd155177cec9ba --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Robot/robot.usda @@ -0,0 +1,107 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_ezu_35" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace + prepend rel isaac:physics:robotJoints = [ + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + ] + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "SCHUNK_1582927_EZU_GBA_35_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "SCHUNK_1582927_EZU_GBA_35_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/none.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/none.usda new file mode 100644 index 0000000000000000000000000000000000000000..dcb88c06273f9b09ab44cece73a3407661f69e57 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/none.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/sensors.usda b/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/sensors.usda new file mode 100644 index 0000000000000000000000000000000000000000..c75bdd3af61154e297d2d7ae056e8b26c5c7e175 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/Sensor/sensors.usda @@ -0,0 +1,13 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_ezu_35" +{ +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/base.usda b/schunk_ezu_35_schunk_ezu_35/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..83cf7eaf968141a75ff97111b2ba10569c11ec31 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/base.usda @@ -0,0 +1,479 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "schunk_ezu_35" ( + customData = { + string[] variantPrimPaths = ["SCHUNK_1582927_EZU_GBA_35_3/fingerconnector", "SCHUNK_1582927_EZU_GBA_35_2/fingerconnector", "SCHUNK_1582927_EZU_GBA_35_4/fingerconnector"] + } +) +{ + quatd xformOp:orient = (0.7071067811865476, 0.7071067811865475, 0, 0) + double3 xformOp:scale = (0.001, 0.001, 0.001) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK_1582927_EZU_GBA_35_2" + { + quatd xformOp:orient = (-4.371138828673793e-8, -1, -0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 125, -35) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 1, 0, 0) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 5.684960626695101e-7, -6.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.5, -0.5, 0.5, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0, 1, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_11" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0, 1, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Xform "SCHUNK_1582927_EZU_GBA_35_3" + { + quatd xformOp:orient = (0.8660253882408142, 0, 0.5, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (30.310888290405273, 125, 17.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 6.123233995736766e-17, 1, 6.123233995736766e-17) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -6.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.5, -0.5, 0.5, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_12" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + } + } + + def Xform "SCHUNK_1582927_EZU_GBA_35_4" + { + quatd xformOp:orient = (0.8660253882408142, 0, -0.5, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-30.310888290405273, 125, 17.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "fingerconnector" ( + kind = "component" + ) + { + quatd xformOp:orient = (6.123233995736766e-17, 0, 1, 0) + float3 xformOp:rotateXYZ = (0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -6.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (0.5, -0.5, 0.5, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_1582927_EZU_GBA_35_13" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + } + } + + def Xform "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.25 + string isaac:Description = "Gripper grasp point" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 148, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 50, 0)] + point3f[] points = [(0, 0, 0), (0, 50, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-25, 0, 0), (25, 0, 0)] + point3f[] points = [(-25, 0, 0), (25, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + + def Xform "visuals" ( + instanceable = false + ) + { + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "collisions" ( + instanceable = false + ) + { + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_1" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_2" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_3" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_4" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_5" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_Gehaeuse_EZU_35_MB70_6" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_7" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_8" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_9" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "SCHUNK_9957615_Typenschild_16x64x0_3_10" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + uniform token purpose = "guide" + token visibility = "inherited" + quatd xformOp:orient = (0.7071067691, -0.7071067933, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 106.4000015, 62.15000153) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } + + def Scope "joints" + { + } + + def Scope "Looks" + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/geometries.usd b/schunk_ezu_35_schunk_ezu_35/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..20ca3b8cf549aac71d9e9154110d166f38fa9dc1 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:819535515630594211270d24d2edd6d846d921920ea655c41ff69b7ace055dd9 +size 628952 diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/instances.usda b/schunk_ezu_35_schunk_ezu_35/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..0200be0bee5a2fc8796035f050dc7a93c6280683 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/instances.usda @@ -0,0 +1,1005 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend references = @./geometries.usd@ + ) + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + bool physics:collisionEnabled = 1 + + over "Material_2_005" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "Material_1_009" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Material_2_005" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Material_1_009" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_black" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_light_grey" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_dark_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_9_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_9" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_cyan" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "mesh_10_1" ( + prepend references = @./geometries.usd@ + ) + { + over "mesh_10" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + uniform token purpose = "guide" + } + + def Scope "VisualMaterials" + { + def Material "SCHUNK_cyan" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/materials.usda b/schunk_ezu_35_schunk_ezu_35/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..218268790e46f99b9a8f73dcfb41a8602107822a --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/materials.usda @@ -0,0 +1,1468 @@ +#usda 1.0 +( + customLayerData = { + } + metersPerUnit = 1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "Material_2_008" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_2_008" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_1_014" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_1_014" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.69411767, 0.7529412, 0.77254903) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.69411767, 0.7529412, 0.77254903) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_2_005" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_2_005" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Material_1_009" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Material_1_009" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.7372549, 0.75686276, 0.8) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.7372549, 0.75686276, 0.8) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_black" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EZU_35_MB70_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0, 0) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:reflection_roughness_constant = 0.75 + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0, 0) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.75 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_light_grey" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EZU_35_MB70_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8901961, 0.8901961, 0.8901961) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_dark_blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EZU_35_MB70_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.23921569, 0.41568628) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_white" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EZU_35_MB70_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (1, 1, 1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "SCHUNK_cyan" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "SCHUNK_Gehaeuse_EZU_35_MB70_1_Material" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.61960787, 0.8784314) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Albedo" + ) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + dictionary range = { + float3 max = (1, 1, 1) + float3 min = (0, 0, 0) + } + } + displayGroup = "Emissive" + ) + float inputs:emissive_intensity = 10000 ( + customData = { + double default = 10000 + dictionary range = { + double max = 100000 + double min = 0 + } + } + displayGroup = "Emissive" + ) + bool inputs:enable_emission = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + ) + bool inputs:enable_opacity = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + bool inputs:enable_opacity_texture = 0 ( + customData = { + bool default = 0 + } + displayGroup = "Opacity" + ) + float inputs:opacity_constant = 1 ( + customData = { + double default = 1 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + int inputs:opacity_mode = 1 ( + customData = { + int default = 1 + dictionary range = { + int max = 3 + int min = 0 + } + } + displayGroup = "Opacity" + renderType = "::base::mono_mode" + sdrMetadata = { + string __SDR__enum_value = "mono_average" + string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" + } + ) + float inputs:opacity_threshold = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 1 + double min = 0 + } + } + displayGroup = "Opacity" + ) + float inputs:texture_rotate = 0 ( + customData = { + double default = 0 + dictionary range = { + double max = 360 + double min = 0 + } + } + displayGroup = "UV" + ) + float2 inputs:texture_scale = (1, 1) ( + customData = { + float2 default = (1, 1) + } + displayGroup = "UV" + ) + float2 inputs:texture_translate = (0, 0) ( + customData = { + float2 default = (0, 0) + } + displayGroup = "UV" + ) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/payloads/robot.usda b/schunk_ezu_35_schunk_ezu_35/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..f78109bade1266c43e0ff871a76afd69ecc0f19f --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/payloads/robot.usda @@ -0,0 +1,146 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_ezu_35" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "SCHUNK_1582927_EZU_GBA_35_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1582927_EZU_GBA_35_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1582927_EZU_GBA_35_4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + + over "SCHUNK_Gehaeuse_EZU_35_MB70_0" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + } + } + + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + string isaac:nameOverride ( + displayName = "Name Override" + doc = "Name override for prim lookup in base name search" + ) + float[] isaac:physics:AccelerationLimit + int isaac:physics:index + float[] isaac:physics:JerkLimit + int isaac:physics:Rot_X:DofOffset + int isaac:physics:Rot_Y:DofOffset + int isaac:physics:Rot_Z:DofOffset + int isaac:physics:Tr_X:DofOffset + int isaac:physics:Tr_Y:DofOffset + int isaac:physics:Tr_Z:DofOffset + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/runnables/physics/mujoco.usda b/schunk_ezu_35_schunk_ezu_35/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..2a9d72653c76d9d15fce7ec1c8722f45e89c5fb8 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/runnables/physics/mujoco.usda @@ -0,0 +1,254 @@ +#usda 1.0 +( + defaultPrim = "schunk_ezu_35" +) + +def "schunk_ezu_35" +{ + over "SCHUNK_1582927_EZU_GBA_35_2" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_11" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_3" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_12" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_13" + { + over "mesh" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" + { + over "mesh_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" + { + over "mesh_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" + { + over "mesh_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" + { + over "mesh_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" + { + over "mesh_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" + { + over "mesh_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" + { + over "mesh_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" + { + over "mesh_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + over "mesh_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_0" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_schunk_ezu_35_joints_Jaw_Drive" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -6000, -300] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 300 + double mjc:forceRange:min = -300 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/runnables/physics/newton.usda b/schunk_ezu_35_schunk_ezu_35/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..dd455a3f027a4badf09b00fe9f928fbad24b519c --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/runnables/physics/newton.usda @@ -0,0 +1,248 @@ +#usda 1.0 +( + defaultPrim = "schunk_ezu_35" +) + +over "schunk_ezu_35" +{ + over "SCHUNK_1582927_EZU_GBA_35_2" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_11" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_3" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_12" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_13" + { + over "mesh" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" + { + over "mesh_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" + { + over "mesh_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" + { + over "mesh_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" + { + over "mesh_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" + { + over "mesh_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" + { + over "mesh_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" + { + over "mesh_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" + { + over "mesh_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" + { + over "mesh_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + over "mesh_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } + + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.1 + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 0.1 + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 20 + float drive:linear:physics:stiffness = 6000 + float newton:damping = 250 + float newton:velocityLimit = 0.1 + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/runnables/physics/physx.usda b/schunk_ezu_35_schunk_ezu_35/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..4523feffa815a6013dd8290f1239514ca1cd9853 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/runnables/physics/physx.usda @@ -0,0 +1,228 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +over "schunk_ezu_35" +{ + over "joints" + { + over "GBA2_TRANS_2" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 1 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 180 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "GBA3_TRANS_3" ( + prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 1 + float physxMimicJoint:rotX:dampingRatio = 1 + float physxMimicJoint:rotX:gearing = -1 + float physxMimicJoint:rotX:naturalFrequency = 180 + float physxMimicJoint:rotX:offset = 0 + rel physxMimicJoint:rotX:referenceJoint = + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + + over "Jaw_Drive" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear"] + ) + { + float physxJoint:maxJointVelocity = 1 + float state:linear:physics:position = 0 + float state:linear:physics:velocity = 0 + } + } + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "SCHUNK_1582927_EZU_GBA_35_2" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_11" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_3" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_12" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582927_EZU_GBA_35_4" + { + over "fingerconnector" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" + { + over "FGR_AL_3_EGU_50_ZBA_EGU_50_EI_M_B0135154515_51504000000_3463b90" ( + prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"] + ) + { + token physics:approximation = "convexDecomposition" + } + } + } + + over "collisions" + { + over "SCHUNK_1582927_EZU_GBA_35_13" + { + over "mesh" + { + token physics:approximation = "convexHull" + } + } + } + } + + over "SCHUNK_1582096_EZU_35_MB_N_B__000ohne0" + { + over "collisions" + { + over "SCHUNK_Gehaeuse_EZU_35_MB70_1" + { + over "mesh_1" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_2" + { + over "mesh_2" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_3" + { + over "mesh_3" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_4" + { + over "mesh_4" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_5" + { + over "mesh_5" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_Gehaeuse_EZU_35_MB70_6" + { + over "mesh_6" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_7" + { + over "mesh_7" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_8" + { + over "mesh_8" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_9" + { + over "mesh_9" + { + token physics:approximation = "convexHull" + } + } + + over "SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + over "mesh_10" + { + token physics:approximation = "convexHull" + } + } + } + } +} + diff --git a/schunk_ezu_35_schunk_ezu_35/schunk_ezu_35.usda b/schunk_ezu_35_schunk_ezu_35/schunk_ezu_35.usda new file mode 100644 index 0000000000000000000000000000000000000000..2eb5ad58273b3d6e95123add16dbf73a21bf1275 --- /dev/null +++ b/schunk_ezu_35_schunk_ezu_35/schunk_ezu_35.usda @@ -0,0 +1,1760 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/schunk_ezu_35" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/schunk_ezu_35" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/schunk_ezu_35" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.19513686, 0.1775005, 0.17) + string asset_license = "CC-BY-4.0" + string asset_name = "schunk_ezu_35" + string asset_type = "robot" + string author = "Schunk" + string category = "robot end effector" + double mass = 4.300000004470348 + string qcode = "Q1340324" + int rigid_body_count = 4 + string source_file = "Schunk/ezu_35/schunk_ezu_35/schunk_ezu_35.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "schunk_ezu_35" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "schunk_ezu_35" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string Fingers = "none" + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + string Robot = "none" + string Sensor = "none" + } + variantSets = ["Robot", "Sensor", "Fingers", "PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "SCHUNK_1582927_EZU_GBA_35_2" + { + matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, -8.74227766730557e-11, -0.000999999999999997, 0), (0, 0.000999999999999997, -8.74227766730557e-11, 0), (0, 0.03500000000000003, 0.12499999999999999, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + + over "collisions" + { + token visibility = "invisible" + + over "SCHUNK_1582927_EZU_GBA_35_11" + { + over "mesh" + { + normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), 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"SCHUNK_9957615_Typenschild_16x64x0_3_10" + { + over "mesh_10" + { + normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1.8245512e-17, 0, 1), (-1.8245512e-17, 0, 1), (-1.8245512e-17, 0, 1), (1.9730056e-16, 0, 1), (1.9730056e-16, 0, 1), (1.9730056e-16, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 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payload = @./payloads/Robot/robot.usda@ + ) { + + } + } + variantSet "Sensor" = { + "none" ( + prepend payload = @./payloads/Sensor/none.usda@ + ) { + + } + "sensors" ( + prepend payload = @./payloads/Sensor/sensors.usda@ + ) { + + } + } + variantSet "Fingers" = { + "default" ( + prepend payload = @./payloads/Fingers/default.usda@ + ) { + + } + "none" ( + prepend payload = @./payloads/Fingers/none.usda@ + ) { + + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json 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--git a/schunk_svh_flat_l_svh_flat_l_v2/.metadata/license.txt b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..da6ab6cc8f333d7e89a99812866df8f24374d47c --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/license.txt @@ -0,0 +1,396 @@ +Attribution 4.0 International + +======================================================================= + +Creative Commons Corporation ("Creative Commons") is not a law firm and +does not provide legal services or legal advice. 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For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_benchmark.json b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..c22447e24d4a115927c3b3315839709ec79db001 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_benchmark.json @@ -0,0 +1,44369 @@ +{ + "schema_version": "1.0", + "asset": "schunk_svh_flat_l_svh_flat_l_v2", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 49.937, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 16.438, + "unit": null + 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radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_k/Left_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236033087713677, + "start": 4.5331730689213146e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_007": { + "value": { + "schema_version": 1, + "name": "dgv_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Left_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_k/Left_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235986239682232, + "start": -1.5163007560659025e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 253, + "json": "motion_history/dgv_joint_007.json", + "csv": "motion_history/dgv_joint_007.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_008": { + "value": { + "schema_version": 1, + "name": "dgv_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Left_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e4/Left_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987478590906, + "start": -2.773920826371068e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_008.json", + "csv": "motion_history/dgv_joint_008.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_009": { + "value": { + "schema_version": 1, + "name": "dgv_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Left_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235997032984697, + "start": 9.277001709051547e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 432, + "json": "motion_history/dgv_joint_009.json", + "csv": "motion_history/dgv_joint_009.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_010": { + "value": { + "schema_version": 1, + "name": "dgv_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "left_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.29146823287010193, + "start": -1.2551218731005065e-07, + "tolerance": 0.014573417919114463 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 143, + "json": "motion_history/dgv_joint_010.json", + "csv": "motion_history/dgv_joint_010.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_011": { + "value": { + "schema_version": 1, + "name": "dgv_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235984526242815, + "start": -3.2297401730829733e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 432, + "json": "motion_history/dgv_joint_011.json", + "csv": "motion_history/dgv_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 155.219, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 11, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265718793515, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Left_Hand_Ring_Finger", + "body_path": "/World/AssetRoot/Asset/left_hand_j", + "direction": "-XZ", + "world_com": [ + -0.022769141897927392, + -0.014670019900528563, + 0.3612826114989146 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 14.456, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 132, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 109.52, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.093, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 11, + "unit": null + }, + "eff_joints_passed": { + "value": 11, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "Left_Hand_Thumb_Opposition", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Thumb_Flexion", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Middle_Finger_Proximal", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "left_hand_index_spread", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Middle_Finger_Distal", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Index_Finger_Proximal", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Finger_Spread", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "left_hand_ring_spread", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Index_Finger_Distal", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Pinky", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "Left_Hand_Ring_Finger", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_hand_z", + "runtime_lower": 0.0, + "runtime_upper": 0.9878999590873718, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Left_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e1/Left_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_001.json", + "csv": "motion_history/eff_joint_001.csv" + }, + "unit": null + }, + "motion_history_eff_joint_002": { + "value": { + "schema_version": 1, + "name": "eff_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "force_point_x": { + "unit": "native_world", + "source": "observed live child-body COM world x" + }, + "force_point_y": { + "unit": "native_world", + "source": "observed live child-body COM world y" + }, + "force_point_z": { + "unit": "native_world", + "source": "observed live child-body COM world z" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "force_point_basis": "live child-body center of mass", + "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", + "body_path": "/World/AssetRoot/Asset/left_hand_a", + "runtime_lower": 0.0, + "runtime_upper": 0.9703999161720276, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native 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"body_path": "/World/AssetRoot/Asset/left_hand_j", + "runtime_lower": 0.0, + "runtime_upper": 0.981749951839447, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_011.json", + "csv": "motion_history/eff_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 365.844, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 47.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 11328, + "planned_nominal_ticks_estimate": 11328, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 365.25, + "setup_elapsed_wall_seconds": 3.469000000040978, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 2994.75, + "observed_service_seconds_per_nominal_tick": 0.031936882062143276, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 236.49400000087917, + "attempts": 11328 + }, + "captures": { + "wall_seconds": 100.67400000011548, + "attempts": 87 + }, + "bounds": { + "wall_seconds": 8.074000001186505, + "attempts": 496 + }, + "camera": { + "wall_seconds": 1.5799999994924292, + "attempts": 9900 + }, + "optional_motion": { + "wall_seconds": 1.6149999997578561, + "attempts": 11186 + }, + "commands": { + "wall_seconds": 3.3609999992186204, + "attempts": 11088 + }, + "encoding": { + "wall_seconds": 8.233999999938533, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 19, + "unit": null + }, + "frs_joints_tested": { + "value": 11, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 8, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265718793515, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + 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joint-position verdict thresholds", + "joint_name": "Left_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_k/Left_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "unit": null + }, + "motion_history_frs_joint_007": { + "value": { + "schema_version": 1, + "name": "frs_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": 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"limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_011.json", + "csv": "motion_history/frs_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "gripper_close_lift_cube", + "engine": "isaac_sim", + "engine_version": 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"prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 406, + "json": "motion_history/gripper_sphere_joint_007.json", + "csv": "motion_history/gripper_sphere_joint_007.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_008": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus 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"motion_history/gripper_sphere_joint_009.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_010": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": 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"trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/left_hand_c", + "/World/AssetRoot/Asset/left_hand_t", + "/World/AssetRoot/Asset/left_hand_s", + "/World/AssetRoot/Asset/left_hand_q", + "/World/AssetRoot/Asset/left_hand_r" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 76, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. 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"/World/AssetRoot/Asset/left_hand_k", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_028.json", + "csv": "motion_history/joint_movement_028.csv" + }, + "unit": null + }, + "motion_history_joint_movement_029": { + "value": { + "schema_version": 1, + "name": "joint_movement_029", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j15", + "authored_joint_name": "left_hand_j15", + "prim_path": "/World/AssetRoot/Asset/left_hand_o/left_hand_j15", + "child_body_path": "/World/AssetRoot/Asset/left_hand_s", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_o", + "reference_frame": "/World/AssetRoot/Asset/left_hand_o", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_029.json", + "csv": "motion_history/joint_movement_029.csv" + }, + "unit": null + }, + "motion_history_joint_movement_030": { + "value": { + "schema_version": 1, + "name": "joint_movement_030", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Finger_Spread", + "authored_joint_name": "Left_Hand_Finger_Spread", + "prim_path": "/World/AssetRoot/Asset/left_hand_e4/Left_Hand_Finger_Spread", + "child_body_path": "/World/AssetRoot/Asset/left_hand_virtual_i", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_e4", + "reference_frame": "/World/AssetRoot/Asset/left_hand_e4", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_030.json", + "csv": "motion_history/joint_movement_030.csv" + }, + "unit": null + }, + "motion_history_joint_movement_031": { + "value": { + "schema_version": 1, + "name": "joint_movement_031", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Pinky", + "authored_joint_name": "Left_Hand_Pinky", + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "child_body_path": "/World/AssetRoot/Asset/left_hand_i", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_virtual_i", + "reference_frame": "/World/AssetRoot/Asset/left_hand_virtual_i", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_031.json", + "csv": "motion_history/joint_movement_031.csv" + }, + "unit": null + }, + "motion_history_joint_movement_032": { + "value": { + "schema_version": 1, + "name": "joint_movement_032", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j13", + "authored_joint_name": "left_hand_j13", + "prim_path": "/World/AssetRoot/Asset/left_hand_i/left_hand_j13", + "child_body_path": "/World/AssetRoot/Asset/left_hand_m", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_i", + "reference_frame": "/World/AssetRoot/Asset/left_hand_i", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_032.json", + "csv": "motion_history/joint_movement_032.csv" + }, + "unit": null + }, + "motion_history_joint_movement_033": { + "value": { + "schema_version": 1, + "name": "joint_movement_033", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j17", + "authored_joint_name": "left_hand_j17", + "prim_path": "/World/AssetRoot/Asset/left_hand_m/left_hand_j17", + "child_body_path": "/World/AssetRoot/Asset/left_hand_q", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_m", + "reference_frame": "/World/AssetRoot/Asset/left_hand_m", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_033.json", + "csv": "motion_history/joint_movement_033.csv" + }, + "unit": null + }, + "motion_history_joint_movement_034": { + "value": { + "schema_version": 1, + "name": "joint_movement_034", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_ring_spread", + "authored_joint_name": "left_hand_ring_spread", + "prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "child_body_path": "/World/AssetRoot/Asset/left_hand_virtual_j", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_e5", + "reference_frame": "/World/AssetRoot/Asset/left_hand_e5", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_034.json", + "csv": "motion_history/joint_movement_034.csv" + }, + "unit": null + }, + "motion_history_joint_movement_035": { + "value": { + "schema_version": 1, + "name": "joint_movement_035", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Ring_Finger", + "authored_joint_name": "Left_Hand_Ring_Finger", + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "child_body_path": "/World/AssetRoot/Asset/left_hand_j", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_virtual_j", + "reference_frame": "/World/AssetRoot/Asset/left_hand_virtual_j", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_035.json", + "csv": "motion_history/joint_movement_035.csv" + }, + "unit": null + }, + "motion_history_joint_movement_036": { + "value": { + "schema_version": 1, + "name": "joint_movement_036", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j12", + "authored_joint_name": "left_hand_j12", + "prim_path": "/World/AssetRoot/Asset/left_hand_j/left_hand_j12", + "child_body_path": "/World/AssetRoot/Asset/left_hand_n", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_j", + "reference_frame": "/World/AssetRoot/Asset/left_hand_j", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_036.json", + "csv": "motion_history/joint_movement_036.csv" + }, + "unit": null + }, + "motion_history_joint_movement_037": { + "value": { + "schema_version": 1, + "name": "joint_movement_037", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j16", + "authored_joint_name": "left_hand_j16", + "prim_path": "/World/AssetRoot/Asset/left_hand_n/left_hand_j16", + "child_body_path": "/World/AssetRoot/Asset/left_hand_r", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_n", + "reference_frame": "/World/AssetRoot/Asset/left_hand_n", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_037.json", + "csv": "motion_history/joint_movement_037.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": 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"parent_body_path": "/World/AssetRoot/Asset/left_hand_virtual_k", + "reference_frame": "/World/AssetRoot/Asset/left_hand_virtual_k", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_008.json", + "csv": "motion_history/joint_movement_008.csv" + }, + "unit": null + }, + "motion_history_joint_movement_009": { + "value": { + "schema_version": 1, + "name": "joint_movement_009", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Middle_Finger_Distal", + "authored_joint_name": "Left_Hand_Middle_Finger_Distal", + "prim_path": "/World/AssetRoot/Asset/left_hand_k/Left_Hand_Middle_Finger_Distal", + "child_body_path": "/World/AssetRoot/Asset/left_hand_o", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_k", + "reference_frame": "/World/AssetRoot/Asset/left_hand_k", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + }, + "motion_history_joint_movement_010": { + "value": { + "schema_version": 1, + "name": "joint_movement_010", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j15", + "authored_joint_name": "left_hand_j15", + "prim_path": "/World/AssetRoot/Asset/left_hand_o/left_hand_j15", + "child_body_path": "/World/AssetRoot/Asset/left_hand_s", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_o", + "reference_frame": "/World/AssetRoot/Asset/left_hand_o", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_010.json", + "csv": "motion_history/joint_movement_010.csv" + }, + "unit": null + }, + "motion_history_joint_movement_011": { + "value": { + "schema_version": 1, + "name": "joint_movement_011", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Finger_Spread", + "authored_joint_name": "Left_Hand_Finger_Spread", + "prim_path": "/World/AssetRoot/Asset/left_hand_e4/Left_Hand_Finger_Spread", + "child_body_path": "/World/AssetRoot/Asset/left_hand_virtual_i", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_e4", + "reference_frame": "/World/AssetRoot/Asset/left_hand_e4", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_011.json", + "csv": "motion_history/joint_movement_011.csv" + }, + "unit": null + }, + "motion_history_joint_movement_012": { + "value": { + "schema_version": 1, + "name": "joint_movement_012", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Pinky", + "authored_joint_name": "Left_Hand_Pinky", + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "child_body_path": "/World/AssetRoot/Asset/left_hand_i", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_virtual_i", + "reference_frame": "/World/AssetRoot/Asset/left_hand_virtual_i", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_012.json", + "csv": "motion_history/joint_movement_012.csv" + }, + "unit": null + }, + "motion_history_joint_movement_013": { + "value": { + "schema_version": 1, + "name": "joint_movement_013", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j13", + "authored_joint_name": "left_hand_j13", + "prim_path": "/World/AssetRoot/Asset/left_hand_i/left_hand_j13", + "child_body_path": "/World/AssetRoot/Asset/left_hand_m", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_i", + "reference_frame": "/World/AssetRoot/Asset/left_hand_i", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_013.json", + "csv": "motion_history/joint_movement_013.csv" + }, + "unit": null + }, + "motion_history_joint_movement_014": { + "value": { + "schema_version": 1, + "name": "joint_movement_014", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j17", + "authored_joint_name": "left_hand_j17", + "prim_path": "/World/AssetRoot/Asset/left_hand_m/left_hand_j17", + "child_body_path": "/World/AssetRoot/Asset/left_hand_q", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_m", + "reference_frame": "/World/AssetRoot/Asset/left_hand_m", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_014.json", + "csv": "motion_history/joint_movement_014.csv" + }, + "unit": null + }, + "motion_history_joint_movement_015": { + "value": { + "schema_version": 1, + "name": "joint_movement_015", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_ring_spread", + "authored_joint_name": "left_hand_ring_spread", + "prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "child_body_path": "/World/AssetRoot/Asset/left_hand_virtual_j", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_e5", + "reference_frame": "/World/AssetRoot/Asset/left_hand_e5", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_015.json", + "csv": "motion_history/joint_movement_015.csv" + }, + "unit": null + }, + "motion_history_joint_movement_016": { + "value": { + "schema_version": 1, + "name": "joint_movement_016", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "Left_Hand_Ring_Finger", + "authored_joint_name": "Left_Hand_Ring_Finger", + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "child_body_path": "/World/AssetRoot/Asset/left_hand_j", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_virtual_j", + "reference_frame": "/World/AssetRoot/Asset/left_hand_virtual_j", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_016.json", + "csv": "motion_history/joint_movement_016.csv" + }, + "unit": null + }, + "motion_history_joint_movement_017": { + "value": { + "schema_version": 1, + "name": "joint_movement_017", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j12", + "authored_joint_name": "left_hand_j12", + "prim_path": "/World/AssetRoot/Asset/left_hand_j/left_hand_j12", + "child_body_path": "/World/AssetRoot/Asset/left_hand_n", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_j", + "reference_frame": "/World/AssetRoot/Asset/left_hand_j", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_017.json", + "csv": "motion_history/joint_movement_017.csv" + }, + "unit": null + }, + "motion_history_joint_movement_018": { + "value": { + "schema_version": 1, + "name": "joint_movement_018", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "left_hand_j16", + "authored_joint_name": "left_hand_j16", + "prim_path": "/World/AssetRoot/Asset/left_hand_n/left_hand_j16", + "child_body_path": "/World/AssetRoot/Asset/left_hand_r", + "parent_body_path": "/World/AssetRoot/Asset/left_hand_n", + "reference_frame": "/World/AssetRoot/Asset/left_hand_n", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_018.json", + "csv": "motion_history/joint_movement_018.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 55.093, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.999, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1033.3, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.485, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 1.0, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 29, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.899276, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.05197, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 55.093, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 30.999, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1033.3, + "unit": null 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"mim_reference_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Left_Hand_Thumb_Flexion", + "follower_joint_name": "left_hand_j3", + "gearing": -1.0151100158691406, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.0151100158691406, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "Left_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_a/Left_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_reference_001.json", + "csv": 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"/World/AssetRoot/Asset/left_hand_e4/Left_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_011.json", + "csv": "motion_history/mjc_joint_011.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_012": { + "value": { + "schema_version": 1, + "name": "mjc_joint_012", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Left_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_012.json", + "csv": "motion_history/mjc_joint_012.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_015": { + "value": { + "schema_version": 1, + "name": "mjc_joint_015", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "left_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_015.json", + "csv": "motion_history/mjc_joint_015.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_016": { + "value": { + "schema_version": 1, + "name": "mjc_joint_016", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_016.json", + "csv": "motion_history/mjc_joint_016.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1089.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.578, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.003221, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.008903, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.219, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.718, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 1089.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.578, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.003221, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.008903, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 36.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.124, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 624.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 57, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 97, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47971, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 36.188, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.124, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 624.8, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 57, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 57, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 97, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 47971, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.532, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.39, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 319.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.234, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 33.532, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 6.39, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 319.5, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.234, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.7, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": 0.0, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 1, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 4.015, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.594, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 297.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.228255, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 4.015, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 0.594, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 297.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.228255, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 29.453, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.75, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 350.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 57, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 57, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 57, + "unit": null + }, + "universal_surface_materials_total": { + "value": 57, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 97, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 50598, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 29.453, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.75, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 350.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 57, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 57, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 57, + "unit": null + }, + "universal_surface_materials_total": { + "value": 57, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 97, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 50598, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "state_accuracy", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 106.5, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 11, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265718793515, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 36.287, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 110, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 329.88, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.204, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 11, + "unit": null + }, + "sta_joints_passed": { + "value": 11, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.2787894962110208, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Left_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e1/Left_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 58, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Left_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_a/Left_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 58, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Left_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_k/Left_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "left_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_d2/left_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Left_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_k/Left_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 58, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing 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/ configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Left_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/sta_joint_009.json", + "csv": "motion_history/sta_joint_009.csv" + }, + "unit": null + }, + "motion_history_sta_joint_010": { + "value": { + "schema_version": 1, + "name": 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"waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/sta_joint_011.json", + "csv": "motion_history/sta_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 15.64, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 11, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + 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"vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": 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"motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation 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"stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 7, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + }, + "motion_history_vel_joint_007": { + "value": { + "schema_version": 1, + "name": "vel_joint_007", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + 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"vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 11, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 53.031, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 11, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265676649693, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.52, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 150.67, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.329, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 11, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e1/Left_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 54, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_a/Left_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 113, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "left_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_d2/left_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_l/Left_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 49, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_l/Left_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 85, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_k/Left_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 49, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + }, + "motion_history_vel_joint_007": { + "value": { + "schema_version": 1, + "name": "vel_joint_007", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_k/Left_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 85, + "json": "motion_history/vel_joint_007.json", + "csv": "motion_history/vel_joint_007.csv" + }, + "unit": null + }, + "motion_history_vel_joint_008": { + "value": { + "schema_version": 1, + "name": "vel_joint_008", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e4/Left_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 43, + "json": "motion_history/vel_joint_008.json", + "csv": "motion_history/vel_joint_008.csv" + }, + "unit": null + }, + "motion_history_vel_joint_009": { + "value": { + "schema_version": 1, + "name": "vel_joint_009", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_i/Left_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_009.json", + "csv": "motion_history/vel_joint_009.csv" + }, + "unit": null + }, + "motion_history_vel_joint_010": { + "value": { + "schema_version": 1, + "name": "vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "left_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_e5/left_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Left_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/left_hand_virtual_j/Left_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_validation.json b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..81ba3564ee31be98f8ab19cc07945b9d9245e0a1 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/.metadata/schunk_svh_flat_l_svh_flat_l_v2_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/svh-flat-l_v2.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/schunk_svh_flat_l_svh_flat_l_v2/.thumbs/256x256/svh-flat-l_v2.usda.png b/schunk_svh_flat_l_svh_flat_l_v2/.thumbs/256x256/svh-flat-l_v2.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..e39418ba428dcb590d1131ede86580624eeeafb4 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/.thumbs/256x256/svh-flat-l_v2.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:691ea48154bc096035b247e69cb628073708351310ba6d6324ed6f23ece85b8a +size 44678 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast.mdl new file mode 100644 index 0000000000000000000000000000000000000000..be08e1f6670f5bef6f5da943406484c8867ed4f4 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast.mdl @@ -0,0 +1,54 @@ +mdl 1.4; + +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::key_words; +import ::anno::version; +import ::tex::gamma_mode; +import ::state::normal; + +export material Aluminum_Cast(*) +[[ + ::anno::display_name("Omni PBR "), + ::anno::description("Omni PBR, supports ORM textures"), + ::anno::version(1, 0, 0, ""), + ::anno::author("NVIDIA CORPORATION"), + ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic")) +]] + = ::OmniPBR::OmniPBR( + diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f), + diffuse_texture: texture_2d("./Aluminum_Cast_BaseColor.png" /* tag 2739, version 3703676365 */, ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.5f, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Aluminum_Cast_ORM.png" /* tag 2741, version 2892271140 */, ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.f, 0.100000001f, 0.100000001f), + emissive_mask_texture: texture_2d(), + emissive_intensity: 40.f, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Aluminum_Cast_N.png" /* tag 2743, version 2148533726 */, ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_BaseColor.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..ca744539be764116ef8d64a9ef9eb815f00814d7 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03ab7494d37e1f6551a26894628c5fe03a65b4d85a09ed11337e184852a580b3 +size 1154931 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_N.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_N.png new file mode 100644 index 0000000000000000000000000000000000000000..d01c8569858b610ab3b5594f97590a5d9a2a922e --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_N.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:812c0161ea14abc581cb35c47b33dc6005c089f8e82dca6cb4dd4832deb0556c +size 6557833 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_ORM.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..9c237244127ac6fdce0ded7cb69a55533864a962 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Cast_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571eba5a99da444b681609a722a29914490c6dae45d230dac471a45875211a4c +size 4198310 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b2afa2e2d3712fa674c594987fe0546a7ab4f853 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Aluminum_Polished(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Aluminum_Polished_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Aluminum_Polished_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Aluminum_Polished_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_BaseColor.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..c00f298ce88eb8d6110af2e167b0a00f676dba20 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1d042502d7d94bca13cee10c63ab5b3801fb0a46e26d79169e13f5b9c7b5a31 +size 16903 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_Normal.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..0516db787ca177fd1bc81c586118c682051c2e38 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8221595d4a575d1e95f059288ce11f1bd0bc7c107ad77bbe482ae7c717816c65 +size 2272406 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_ORM.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..fe1845f40dfa5c2c8cb3cfbd54e10f4669d7fe30 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Aluminum_Polished_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27a1ffae09aca47be92ea6d9df39d365c58fb7e4d6a28ed3d14563a696b5dad4 +size 643206 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass.mdl new file mode 100644 index 0000000000000000000000000000000000000000..78e9c6df56d89a484336a3b7d2d153d323428c8e --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass.mdl @@ -0,0 +1,54 @@ +mdl 1.4; + +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::key_words; +import ::anno::version; +import ::tex::gamma_mode; +import ::state::normal; + +export material Brass(*) +[[ + ::anno::display_name("Omni PBR "), + ::anno::description("Omni PBR, supports ORM textures"), + ::anno::version(1, 0, 0, ""), + ::anno::author("NVIDIA CORPORATION"), + ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic")) +]] + = ::OmniPBR::OmniPBR( + diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f), + diffuse_texture: texture_2d("./Brass_BaseColor.png" /* tag 2784, version 2867840297 */, ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.5f, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.5f, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Brass_ORM.png" /* tag 2786, version 3429153493 */, ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.f, 0.100000001f, 0.100000001f), + emissive_mask_texture: texture_2d(), + emissive_intensity: 40.f, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Brass_N.png" /* tag 2788, version 4097231851 */, ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_BaseColor.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..f7872d7eff9445d8e4d206cf6301a3cc359ec46a --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cfc0397b5b4f41dca920ccfda0c4f06763ea457cf292a45aefd415ee5f000fd +size 1466378 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_N.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_N.png new file mode 100644 index 0000000000000000000000000000000000000000..331508561e7ef554171f1e2a9b59103ba7c5512e --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_N.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2798f76c92a1f861e5063bf051909afec5356af9ae1003321fa2216a2a8ff7d +size 14776302 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_ORM.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..dee2fbf2eed6785b3f1e8ad258ea74f97dfac02d --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Brass_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43fa990cf1b903c757c0df239f65db64b99fe15b1f9d22ce66236e1f9686f255 +size 8792985 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Plastic_ABS.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Plastic_ABS.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4d5c6a96c6bf9d2c342c11f6a2e1cb7c2a0e9a16 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Plastic_ABS.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Plastic_ABS(*) + = OmniPBR( + diffuse_color_constant: color(1.0, 1.0, 1.0), + diffuse_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_BaseColor.png", ::tex::gamma_srgb + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(0.005f, 0.005f, 0.005f), + reflection_roughness_constant: 0.28, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.0, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_ORM.png", ::tex::gamma_linear + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(0.0, 0.0, 0.0), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.0, + bump_factor: 1.f, + normalmap_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_Normal.png", ::tex::gamma_linear + detail_bump_factor: 0.3f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured.mdl new file mode 100644 index 0000000000000000000000000000000000000000..37409611da0270d7d4c8776e4c4ac6bc99233e53 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Rubber_Textured(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Rubber_Textured_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Rubber_Textured_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Rubber_Textured_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_BaseColor.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..d39e545b4029067096fcc4e9fff22a44bf0741ed --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25e715d7c65ba33a1c920d0e5c8ba119f3737c0dec183bc1cbec67b25fa19054 +size 16903 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_Normal.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..7bd147f75f3986363de6fa6c7de569ef01cf0263 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9897ec963a360ff3c62b15013c88a8f7aa7534bbfea92251bf80e2a0933ff6a +size 5161841 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_ORM.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..12213787fb2dbd3c25625ad0ec87bae7bd1efd67 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Rubber_Textured_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6368c9d99e2759151dc6205f107e6a87516884ab084ed3264efe4f63536b199 +size 1155371 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut.mdl b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f37efaeb06fa214f2f800f2dfd7c99923fa6ee13 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Veneer_OU_Walnut(*) + = OmniPBR( + diffuse_color_constant: color(1.0, 1.0, 1.0), + diffuse_texture: texture_2d("./Veneer_OU_Walnut_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(0.768f, 0.491f, 0.321f), //0.941f, 0.447f, 0.161f + reflection_roughness_constant: 0.55, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.0, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(0.0, 0.0, 0.0), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.0, + bump_factor: 0.9f, + normalmap_texture: texture_2d("./Veneer_OU_Walnut_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 1.f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_BaseColor.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..e974a1eaaec085acaeb34beaaae0f7d606ff9143 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c4ecbbf4415e12966e6c4da4894cb27322ad4ac00ab9d619252934c9061b093 +size 3143008 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_Normal.png b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..652544c17b23855d46a17b5d0a371ee9ae64cb6e --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/Textures/Veneer_OU_Walnut_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9084debed6d5508235adb127d04a82e754cfaa116f8320e9cf54a88ecc77bf2e +size 8489522 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/com.nvidia.simready.packaging.json b/schunk_svh_flat_l_svh_flat_l_v2/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..87523d6679c16ad8092865846158bc1634ed03f6 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.schunk_svh_flat_l_svh_flat_l_v2.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "67f531672747518e763dd47f82912d67fb25ebf35e0688b6a58555e2127c47d5" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "41cac72eaa2e855bcaf95ffaf36431584c2a20d12da20dd3051d6572db38cafa" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "21eee5324ea1e9acfc7dd2d6509a05625133b2b3bdfc0b6d4d815d9af69ac29d" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "schunk_svh_flat_l_svh_flat_l_v2_benchmark.json", + "hash": { + "sha256": "4885c8ede3f34fd775da44d43eb6be6ffc7ba97bad13ea13ba7d5737d7acbf11" + } + }, + { + "name": "schunk_svh_flat_l_svh_flat_l_v2_validation.json", + "hash": { + "sha256": "943d280f23a76e0e626edd404d4f1f283f1059a0d7c56ccce52c4ad0e446b0a0" + } + } + ], + "content_hash": { + "sha256": "12962ccb24f0cdaa2785628067503144013863209f4463965404c59087664527" + }, + "package_hash": { + "sha256": "69998afec97a13b7cc0ac5a363f5ceac5f0dc5d02026208e9638eecf495088b5" + } +} diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBRBase.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/aux_definitions.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/core_definitions.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/license.txt b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/support_definitions.mdl b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/mujoco.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..7a48355d928987472347aad579179d1db298c33c --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/mujoco.usda @@ -0,0 +1,513 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" +{ + over "root_joint" + { + } + + over "base_link" + { + over "left_hand_base_joint" + { + } + } + + over "left_hand_base_link" + { + over "left_hand_f4" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_e1" + { + over "Left_Hand_Thumb_Opposition" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "left_hand_f1" + { + } + + over "left_hand_j5" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + + over "Typenschild_3D" + { + over "Typenschild_3D" + { + over "Curve" + { + } + + over "Curve_001" + { + } + + over "Curve_002" + { + } + + over "Curve_003" + { + } + + over "Curve_004" + { + } + + over "Curve_005" + { + } + + over "Curve_006" + { + } + + over "Curve_007" + { + } + + over "Curve_008" + { + } + + over "Curve_009" + { + } + } + } + } + + over "left_hand_z" + { + over "left_hand_Thumb_Helper" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_virtual_a" + { + over "Left_Hand_Thumb_Flexion" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "left_hand_a" + { + over "left_hand_j3" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_b" + { + over "left_hand_j4" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_c" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_d" + { + over "left_hand_f2" + { + } + + over "left_hand_middle_spread_dummy" + { + } + } + + over "left_hand_h" + { + over "left_hand_f3" + { + } + } + + over "left_hand_d2" + { + over "left_hand_index_spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + } + + over "left_hand_virtual_l" + { + over "Left_Hand_Index_Finger_Proximal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_l" + { + over "Left_Hand_Index_Finger_Distal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_p" + { + over "left_hand_j14" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_t" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_virtual_k" + { + over "Left_Hand_Middle_Finger_Proximal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_k" + { + over "Left_Hand_Middle_Finger_Distal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_o" + { + over "left_hand_j15" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_s" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_e2" + { + over "left_hand_f5" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_e3" + { + over "left_hand_f6" + { + } + } + + over "left_hand_e" + { + over "left_hand_f7" + { + } + + over "left_hand_f8" + { + } + } + + over "left_hand_e4" + { + over "Left_Hand_Finger_Spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "left_hand_virtual_i" + { + over "Left_Hand_Pinky" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_i" + { + over "left_hand_j13" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_m" + { + over "left_hand_j17" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_q" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_e5" + { + over "left_hand_ring_spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + } + + over "left_hand_virtual_j" + { + over "Left_Hand_Ring_Finger" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_j" + { + over "left_hand_j12" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_n" + { + over "left_hand_j16" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "left_hand_r" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physics.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..59cd2414f177cf31910754c834637b4a70d595b4 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physics.usda @@ -0,0 +1,1137 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.01 + + def PhysicsFixedJoint "left_hand_base_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + bool physics:jointEnabled = 1 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "left_hand_base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, -0.000023, 0.139371) + float physics:mass = 0.57743 + + def PhysicsFixedJoint "left_hand_f4" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, -0.01313, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_e1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0169, 0.02626, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70098597, -0.09230557, 0.09228677, 0.7011287) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.602497 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "left_hand_f1" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "left_hand_j5" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.0184, 0.006, 0.0375) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_z" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0.002024, 0.178636) + float physics:mass = 0.0739 + + def PhysicsFixedJoint "left_hand_Thumb_Helper" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.04596) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.0000025598426, 0.70707273, 0.0000025595964, 0.7071408) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_virtual_a" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0, -0.46638528, 0.8845817, 0) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 55.59982 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_a" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.240205, 0.010733, 0.00019) + float physics:mass = 0.41222 + + def PhysicsRevoluteJoint "left_hand_j3" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0485, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0, 0, 1, 0) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.4409 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_b" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.123157, -0.008382, -0.000027) + float physics:mass = 0.08224 + + def PhysicsRevoluteJoint "left_hand_j4" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.03, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0, 0, 1, 0) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 80.559 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_c" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.113729, 0.01094, 0) + float physics:mass = 0.06198 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_d" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "left_hand_f2" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "left_hand_middle_spread_dummy" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.11) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.5000481, 0.49995184, -0.49999997, 0.49999997) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_hand_h" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "left_hand_f3" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_hand_d2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "left_hand_index_spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.025, 0, 0.11) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.49999997, -0.49999997, 0.5000481, 0.49995184) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 16.6999 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_l" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003634, 0.000206, -0.09885) + float physics:mass = 0.02383 + + def PhysicsRevoluteJoint "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, -0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 45.750103 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_l" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.261673, 0.003521, 0) + float physics:mass = 0.13003 + + def PhysicsRevoluteJoint "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.04804, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.43256 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_p" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.1384, -0.004609, 0) + float physics:mass = 0.03264 + + def PhysicsRevoluteJoint "left_hand_j14" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.026, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.873 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_t" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102924, 0.000592, 0) + float physics:mass = 0.0324 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_virtual_k" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003357, -0.000008, -0.099643) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, -0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 45.750103 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_k" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.271122, 0.00413, 0) + float physics:mass = 0.13474 + + def PhysicsRevoluteJoint "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.05004, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.43256 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_o" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16683, -0.003774, 0) + float physics:mass = 0.0422 + + def PhysicsRevoluteJoint "left_hand_j15" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.032, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.9036 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_12" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_s" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102794, 0.00042, 0) + float physics:mass = 0.03239 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_13" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_e2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.145071, -0.037868, 0.323449) + float physics:mass = 0.46184 + + def PhysicsFixedJoint "left_hand_f5" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, -0.006, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_14" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_e3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "left_hand_f6" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_hand_e" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.000001 + + def PhysicsFixedJoint "left_hand_f7" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "left_hand_f8" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "left_hand_e4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.025355, 0, 0.056) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.49999997, 0.49995184, 0.5000481, -0.49999997) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 33.39771 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_i" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003653, 0.000044, 0.100085) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Left_Hand_Pinky" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, 0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.25013 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_15" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_i" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.232293, 0.00622, 0) + float physics:mass = 0.12544 + + def PhysicsRevoluteJoint "left_hand_j13" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.04454, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.4337 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_16" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_m" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.119665, -0.009328, 0) + float physics:mass = 0.02488 + + def PhysicsRevoluteJoint "left_hand_j17" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.022, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 80.04793 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_17" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_q" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102896, 0.000307, 0) + float physics:mass = 0.03234 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_18" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_e5" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "left_hand_ring_spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.003855, 0, 0.0655) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.49999997, 0.49995184, 0.5000481, -0.49999997) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 16.6999 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_j" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003805, 0.000386, 0.100079) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, 0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.25013 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_19" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_j" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.258283, -0.00154, 0) + float physics:mass = 0.1377 + + def PhysicsRevoluteJoint "left_hand_j12" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.05004, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.4337 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_20" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_n" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.166851, -0.00362, 0) + float physics:mass = 0.04207 + + def PhysicsRevoluteJoint "left_hand_j16" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.032, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.927605 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_21" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "left_hand_r" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102676, 0.000301, 0) + float physics:mass = 0.03229 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_22" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physx.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..48eac710a5d2c13cf6481872e26380aef001d568 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/Physics/physx.usda @@ -0,0 +1,246 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +over "svh" +{ + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "left_hand_e1" + { + over "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "left_hand_virtual_a" + { + over "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "left_hand_a" + { + over "left_hand_j3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.01511 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_b" + { + over "left_hand_j4" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.44889 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_d2" + { + over "left_hand_index_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -0.5 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_virtual_l" + { + over "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000 + } + } + + over "left_hand_l" + { + over "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + } + + over "left_hand_p" + { + over "left_hand_j14" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.045 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_virtual_k" + { + over "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000 + } + } + + over "left_hand_k" + { + over "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + } + + over "left_hand_o" + { + over "left_hand_j15" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.0454 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_e4" + { + over "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "left_hand_virtual_i" + { + over "Left_Hand_Pinky" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "left_hand_i" + { + over "left_hand_j13" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_m" + { + over "left_hand_j17" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.42307 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_e5" + { + over "left_hand_ring_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -0.5 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_virtual_j" + { + over "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "left_hand_j" + { + over "left_hand_j12" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "left_hand_n" + { + over "left_hand_j16" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.42093 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/base.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..5c2aa6e3abc273d329ce88442578b2a1900ae778 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/base.usda @@ -0,0 +1,918 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "svh" ( + kind = "group" +) +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "base_link" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_base_link" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.075 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Gripper grasp point" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.06, 0.135) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.02, 0, 0), (0.02, 0, 0)] + point3f[] points = [(-0.02, 0, 0), (0.02, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "left_hand_e1" ( + kind = "group" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.01312999986, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.01312999986, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Typenschild_3D" ( + kind = "component" + ) + { + quatf xformOp:orient = (0.506502, 0.49341238, 0.49341238, -0.506502) + double xformOp:rotateX:unitsResolve = 90 + float3 xformOp:scale = (40, 40, 40) + double3 xformOp:scale:unitsResolve = (0.01, 0.01, 0.01) + double3 xformOp:translate = (0.004977955784713451, -0.015016675146392624, 0.08830624551832958) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve", "xformOp:scale:unitsResolve"] + + def Xform "Typenschild_3D" + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Curve" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_001" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_002" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_003" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_004" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_005" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_006" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_007" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_008" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_009" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "left_hand_z" + { + quatd xformOp:orient = (0.7009859681129456, -0.09230557084083557, 0.09228677302598953, 0.7011287212371826) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.016899999231100082, 0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.02442000061) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.02442000061) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_virtual_a" + { + quatd xformOp:orient = (-0.4305320382118225, 0.5609062314033508, 0.5610235929489136, 0.4304402768611908) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.016897575929760933, 0.025025350973010063, 0.04439394176006317) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_a" + { + quatd xformOp:orient = (-0.5815917253494263, 0.7578205466270447, 0.23467278480529785, 0.1799657940864563) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.016897575929760933, 0.025025350973010063, 0.04439394176006317) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_b" + { + quatd xformOp:orient = (-0.5815917253494263, 0.7578205466270447, 0.23467278480529785, 0.1799657940864563) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.05691404640674591, 0.032123155891895294, 0.07086189836263657) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_c" + { + quatd xformOp:orient = (-0.5815917253494263, 0.7578205466270447, 0.23467278480529785, 0.1799657940864563) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.081666499376297, 0.0365135483443737, 0.08723382651805878) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, -1, -1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_d" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_h" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_d2" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_virtual_l" + { + quatd xformOp:orient = (0.5000481009483337, 0.4999518394470215, -0.4999999701976776, 0.4999999701976776) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02500000037252903, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_l" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.02500000037252903, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_p" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024999991059303284, -0.013125374913215637, 0.15803998708724976) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_t" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.024999987334012985, -0.013122872449457645, 0.18403998017311096) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_virtual_k" + { + quatd xformOp:orient = (0.5000481009483337, 0.4999518394470215, -0.4999999701976776, 0.4999999701976776) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_k" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_o" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-8.831922748697707e-9, -0.013125183060765266, 0.1600399911403656) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_s" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-1.4479835996894508e-8, -0.013122102245688438, 0.19203998148441315) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_e2" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.018400000408291817, -0.0071299998089671135, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.000699999975, 0, -0.01001999993) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.000699999975, 0, -0.01001999993) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_e3" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_e" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_e4" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_virtual_i" + { + quatd xformOp:orient = (0.5000481009483337, -0.4999999701976776, -0.4999999701976776, -0.4999518394470215) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.043755002319812775, -0.013129999861121178, 0.09350000321865082) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_i" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.043755002319812775, -0.013129999861121178, 0.09350000321865082) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_m" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04375072196125984, -0.013129999861121178, 0.1380399912595749) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_q" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.043748609721660614, -0.013129999861121178, 0.1600399911403656) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_e5" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "left_hand_virtual_j" + { + quatd xformOp:orient = (0.5000481009483337, -0.4999999701976776, -0.4999999701976776, -0.4999518394470215) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.022254999727010727, -0.013129999861121178, 0.10300000011920929) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_j" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.022254999727010727, -0.013129999861121178, 0.10300000011920929) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_n" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.022250192239880562, -0.013129999861121178, 0.15303999185562134) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "left_hand_r" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02224711701273918, -0.013129999861121178, 0.18503998219966888) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/geometries.usd b/schunk_svh_flat_l_svh_flat_l_v2/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..246c48f873f2ee0a83574026ce960672d576fe8a --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d778fd1cf4493a7d287261cd7ff33ed9afbf3fcfac046c7ec598859e607dda49 +size 1302381 diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/instances.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..917199544189c76ae1a616e0e84b3f6f8a7059e1 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/instances.usda @@ -0,0 +1,5325 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "visuals" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_11" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Plastic_ABS_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Plastic_ABS_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Aluminum_Polished_12" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_13" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "Curve" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_001" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_001" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_lightblue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_002" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_002" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_003" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_003" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_lightblue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_004" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_004" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_005" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_005" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_006" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_006" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_007" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_007" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_008" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_008" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_009" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_009" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_17" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_3" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_13" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_16" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_4" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_14" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_18" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_5" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_15" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_09" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_6" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_7" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_8" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_9" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_9_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_10" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_10" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_09" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_10_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_10" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_11" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_11" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_09" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_11_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_11" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_12" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_12" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_12_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_12" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_13" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_13" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_13_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_13" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_14" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_14" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_12" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Plastic_ABS_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Aluminum_Polished_14" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_15" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_14_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_14" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_15" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_15" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_11" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_15_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_15" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_16" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_16" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_16_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_16" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_17" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_17" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_17_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_17" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_18" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_18" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_18_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_18" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_19" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_19" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_19_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_19" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_20" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_20" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_20_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_20" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_21" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_21" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_21_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_21" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_22" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_22" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_22_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_22" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/materials.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..785ed0404d8bc35c7c06004c220e6ac47de72e33 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/materials.usda @@ -0,0 +1,1192 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "material_Kunststoff_Schwarz" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.07, 0.07, 0.07) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.07, 0.07, 0.07) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Gummi" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.1, 0.1, 0.1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Kunststoff_druckschwwarz" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.2, 0.2, 0.2) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Kunststoff_druckteile" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5, 0.5, 0.5) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_Alu" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.45, 0.45, 0.45) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.45, 0.45, 0.45) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_Daumen" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.35, 0.35, 0.35) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.35, 0.35, 0.35) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_goeldlich_002" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.831, 0.686, 0.216) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.831, 0.686, 0.216) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Plastic_ABS" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Plastic_ABS.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Plastic_ABS" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Veneer_OU_Walnut" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Veneer_OU_Walnut.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Veneer_OU_Walnut" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic = 0 + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness = 0.55 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Veneer_OU_Walnut_BaseColor.png@ + float4 inputs:scale = (0.768, 0.491, 0.321, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-0.9, -0.9, -1, 0) + asset inputs:file = @./../Textures/Veneer_OU_Walnut_Normal.png@ + float4 inputs:scale = (1.8, 1.8, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Rubber_Textured_11" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Rubber_Textured.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Rubber_Textured" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Aluminum_Polished_12" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Aluminum_Polished.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Aluminum_Polished" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.23921569, 0.41568628) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (0, 0.23921569, 0.41568628) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_lightblue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.61960787, 0.8784314) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (0, 0.61960787, 0.8784314) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_white" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:diffuse_tint = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:emissive_color = (0.8901961, 0.8901961, 0.8901961) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Brass_04" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "brass" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Brass.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Brass" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Aluminum_Cast_08" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Aluminum_Cast.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Aluminum_Cast" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/payloads/robot.usda b/schunk_svh_flat_l_svh_flat_l_v2/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..956f808b5651268615e1e0fb1a86c47c80185a6b --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/payloads/robot.usda @@ -0,0 +1,447 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_base_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f4" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_e1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_hand_f1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_hand_j5" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_z" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_Thumb_Helper" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_virtual_a" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_a" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_b" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j4" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_c" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_hand_d" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_hand_middle_spread_dummy" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_h" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_d2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_index_spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_virtual_l" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_l" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_p" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j14" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_t" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_hand_virtual_k" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_k" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_o" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j15" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_s" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_hand_e2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f5" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_e3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f6" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_e" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_f7" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "left_hand_f8" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_e4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_virtual_i" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Pinky" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_i" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j13" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_m" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j17" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_q" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "left_hand_e5" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_ring_spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_virtual_j" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_j" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j12" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_n" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "left_hand_j16" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "left_hand_r" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/mujoco.usda b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..2e26de7a33ee4a23028ae36cdd3a913d1ec432fc --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/mujoco.usda @@ -0,0 +1,635 @@ +#usda 1.0 +( + defaultPrim = "svh" +) + +def "svh" +{ + over "left_hand_base_link" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "left_hand_e1" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_z" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_a" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j3" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.01511 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_b" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j4" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.44889 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_c" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_l" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_l" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_p" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j14" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.045 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_t" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_k" + { + over "collisions" + { + over "visuals_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_k" + { + over "collisions" + { + over "visuals_11" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_o" + { + over "collisions" + { + over "visuals_12" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j15" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0454 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_s" + { + over "collisions" + { + over "visuals_13" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e2" + { + over "collisions" + { + over "visuals_14" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_i" + { + over "collisions" + { + over "visuals_15" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Pinky" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_i" + { + over "collisions" + { + over "visuals_16" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j13" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_m" + { + over "collisions" + { + over "visuals_17" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j17" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.42307 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_q" + { + over "collisions" + { + over "visuals_18" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_j" + { + over "collisions" + { + over "visuals_19" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_j" + { + over "collisions" + { + over "visuals_20" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j12" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_n" + { + over "collisions" + { + over "visuals_21" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j16" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.42093 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "left_hand_r" + { + over "collisions" + { + over "visuals_22" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_svh_left_hand_e1_Left_Hand_Thumb_Opposition" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_virtual_a_Left_Hand_Thumb_Flexion" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_virtual_l_Left_Hand_Index_Finger_Proximal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_l_Left_Hand_Index_Finger_Distal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_virtual_k_Left_Hand_Middle_Finger_Proximal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_k_Left_Hand_Middle_Finger_Distal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_e4_Left_Hand_Finger_Spread" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_virtual_i_Left_Hand_Pinky" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_virtual_j_Left_Hand_Ring_Finger" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_d2_left_hand_index_spread" + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_left_hand_e5_left_hand_ring_spread" + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "left_hand_virtual_a" + { + over "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_d2" + { + over "left_hand_index_spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_e4" + { + over "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "left_hand_e5" + { + over "left_hand_ring_spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/newton.usda b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..9c2209ab5c146779d8d2d2aabddb53b3c2f3fb03 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/newton.usda @@ -0,0 +1,555 @@ +#usda 1.0 +( + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" +{ + over "left_hand_base_link" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e1" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_z" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_a" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j3" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.01511 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_b" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j4" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.44889 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_c" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_l" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_l" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_p" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j14" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.045 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_t" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_k" + { + over "collisions" + { + over "visuals_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_k" + { + over "collisions" + { + over "visuals_11" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_o" + { + over "collisions" + { + over "visuals_12" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j15" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0454 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_s" + { + over "collisions" + { + over "visuals_13" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e2" + { + over "collisions" + { + over "visuals_14" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_i" + { + over "collisions" + { + over "visuals_15" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Pinky" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_i" + { + over "collisions" + { + over "visuals_16" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j13" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_m" + { + over "collisions" + { + over "visuals_17" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j17" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.42307 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_q" + { + over "collisions" + { + over "visuals_18" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_j" + { + over "collisions" + { + over "visuals_19" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_j" + { + over "collisions" + { + over "visuals_20" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j12" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_n" + { + over "collisions" + { + over "visuals_21" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "left_hand_j16" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.42093 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "left_hand_r" + { + over "collisions" + { + over "visuals_22" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_a" + { + over "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_d2" + { + over "left_hand_index_spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_e4" + { + over "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "left_hand_e5" + { + over "left_hand_ring_spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/physx.usda b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..381661a5d72b6cc2c2329a425c41e5f27cc005d6 --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/runnables/physics/physx.usda @@ -0,0 +1,545 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:articulationEnabled = 1 + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "left_hand_e1" + { + over "Left_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_1" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_a" + { + over "Left_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_a" + { + over "left_hand_j3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.01511 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_3" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_b" + { + over "left_hand_j4" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.44889 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_4" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_d2" + { + over "left_hand_index_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_l" + { + over "Left_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_6" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_l" + { + over "Left_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_7" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_p" + { + over "left_hand_j14" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.045 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_8" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_virtual_k" + { + over "Left_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_10" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_k" + { + over "Left_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_11" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_o" + { + over "left_hand_j15" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0454 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_12" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e4" + { + over "Left_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_i" + { + over "Left_Hand_Pinky" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_15" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_i" + { + over "left_hand_j13" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_16" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_m" + { + over "left_hand_j17" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.42307 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_17" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e5" + { + over "left_hand_ring_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "left_hand_virtual_j" + { + over "Left_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_19" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_j" + { + over "left_hand_j12" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_20" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_n" + { + over "left_hand_j16" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.42093 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_21" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_base_link" + { + over "collisions" + { + over "visuals" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_z" + { + over "collisions" + { + over "visuals_2" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_c" + { + over "collisions" + { + over "visuals_5" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_t" + { + over "collisions" + { + over "visuals_9" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_s" + { + over "collisions" + { + over "visuals_13" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_e2" + { + over "collisions" + { + over "visuals_14" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_q" + { + over "collisions" + { + over "visuals_18" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "left_hand_r" + { + over "collisions" + { + over "visuals_22" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/schunk_svh_flat_l_svh_flat_l_v2/svh-flat-l_v2.usda b/schunk_svh_flat_l_svh_flat_l_v2/svh-flat-l_v2.usda new file mode 100644 index 0000000000000000000000000000000000000000..7029058a13019a5c70fe63cbd29a32f2fe3520dd --- /dev/null +++ b/schunk_svh_flat_l_svh_flat_l_v2/svh-flat-l_v2.usda @@ -0,0 +1,1830 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.16515823, 0.09856292, 0.21448341) + string asset_license = "CC-BY-4.0" + string asset_name = "svh-flat-l_v2" + string asset_type = "robot" + string author = "Schunk" + string category = "robot end effector" + double mass = 2.6438710258731817 + dictionary omni_layer = { + string authoring_layer = "./svh-flat-l_v2.usda" + } + string qcode = "Q1340324" + dictionary renderSettings = { + } + int rigid_body_count = 31 + string source_file = "Schunk/svh-flat-l/svh-flat-l_v2/svh-flat-l_v2.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "svh" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "left_hand_base_link" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_e1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_z" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_a" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_b" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_c" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_virtual_l" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_l" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_p" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_t" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_virtual_k" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_k" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_o" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_s" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_e2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_virtual_i" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_i" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_m" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_q" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_virtual_j" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_j" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_n" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "left_hand_r" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "base_link" + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "left_hand_base_joint" + { + bool[] isaac:actuator ( + displayName = "Actuator" + ) + string isaac:NameOverride ( + displayName = "Joint Name Override" + ) + token[] isaac:physics:DofOffsetOpOrder ( + displayName = "Dof Offset Op Order" + ) + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + +def "Render" ( + hide_in_stage_window = true + no_delete = true +) +{ + def "OmniverseKit" + { + def "HydraTextures" ( + hide_in_stage_window = true + no_delete = true + ) + { + def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" ( + prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"] + hide_in_stage_window = true + no_delete = true + ) + { + token omni:rtx:ambientOcclusion:denoiserMode = "none" + token omni:rtx:background:source:texture:textureMode = "repeatMirrored" + token omni:rtx:background:source:type = "domeLight" + bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1 + token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None" + bool omni:rtx:dlss:frameGeneration = 0 + bool omni:rtx:indirectDiffuse:denoiser:enabled = 0 + bool omni:rtx:material:db:syncLoads = 1 + token omni:rtx:post:dlss:execMode = "performance" + bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1 + bool omni:rtx:post:registeredCompositing:invertToneMap = 1 + bool omni:rtx:pt:adaptiveSampling:filterError = 0 + uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2 + uint omni:rtx:pt:maxSamplesPerLaunch = 2073600 + uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12 + bool omni:rtx:reflections:denoiser:enabled = 0 + token omni:rtx:rendermode = "RealTimePathTracing" + color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1) + bool omni:rtx:rt:demoire = 0 + bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1 + int omni:rtx:rt:sss:samples = 1 + uint omni:rtx:rtpt:maxVolumeBounces = 15 + float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08 + bool omni:rtx:scene:hydra:materialSyncLoads = 1 + bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1 + rel orderedVars = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + def "Vars" ( + hide_in_stage_window = true + no_delete = true + ) + { + def RenderVar "LdrColor" ( + hide_in_stage_window = true + no_delete = true + ) + { + uniform string sourceName = "LdrColor" + uniform token sourceType = "raw" + } + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json 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Except for the limited purpose of indicating that +material is shared under a Creative Commons public license or as +otherwise permitted by the Creative Commons policies published at +creativecommons.org/policies, Creative Commons does not authorize the +use of the trademark "Creative Commons" or any other trademark or logo +of Creative Commons without its prior written consent including, +without limitation, in connection with any unauthorized modifications +to any of its public licenses or any other arrangements, +understandings, or agreements concerning use of licensed material. For +the avoidance of doubt, this paragraph does not form part of the +public licenses. + +Creative Commons may be contacted at creativecommons.org. + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_benchmark.json b/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..3b48877a00fad32597460255457d52f4d56bad9d --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_benchmark.json @@ -0,0 +1,44435 @@ +{ + "schema_version": "1.0", + "asset": "schunk_svh_flat_r_svh_flat_r_v2", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 46.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 16.827, + "unit": null + 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"prim_path": "/World/AssetRoot/Asset/right_hand_e1/Right_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5238923448301703, + "start": 0.0002935692318715155, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_a/Right_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5234966201638654, + "start": -0.00010215543443337083, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 399, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_d2/right_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.29146823287010193, + "start": 7.44741299740781e-08, + "tolerance": 0.014573407919798598 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 143, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236023794183039, + "start": 3.6038200050825253e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235986447050008, + "start": -1.3089329797821847e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 253, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236033087704582, + "start": 4.533172159426613e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_007": { + "value": { + "schema_version": 1, + "name": "dgv_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523598623968209, + "start": -1.5163008981744497e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 253, + "json": "motion_history/dgv_joint_007.json", + "csv": "motion_history/dgv_joint_007.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_008": { + "value": { + "schema_version": 1, + "name": "dgv_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523598810940595, + "start": 3.534229620072438e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_008.json", + "csv": "motion_history/dgv_joint_008.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_009": { + "value": { + "schema_version": 1, + "name": "dgv_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235997711496166, + "start": 9.955513178283582e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 432, + "json": "motion_history/dgv_joint_009.json", + "csv": "motion_history/dgv_joint_009.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_010": { + "value": { + "schema_version": 1, + "name": "dgv_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.29146823287010193, + "start": 1.3939919085714791e-07, + "tolerance": 0.014573404673545554 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 143, + "json": "motion_history/dgv_joint_010.json", + "csv": "motion_history/dgv_joint_010.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_011": { + "value": { + "schema_version": 1, + "name": "dgv_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235984526251626, + "start": -3.22973136235305e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 432, + "json": "motion_history/dgv_joint_011.json", + "csv": "motion_history/dgv_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 158.593, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 11, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265745157535, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "Right_Hand_Ring_Finger", + "body_path": "/World/AssetRoot/Asset/right_hand_j", + "direction": "-XZ", + "world_com": [ + 0.02227999546715298, + -0.014669982757894067, + 0.3612830627588056 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 15.106, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 132, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 114.44, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.859, + "unit": null + }, + "_timing_encode_video_count": { + "value": 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"motion_history_eff_joint_009": { + "value": { + "schema_version": 1, + "name": "eff_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_hand_i", + "runtime_lower": 0.0, + "runtime_upper": 0.981749951839447, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_009.json", + "csv": "motion_history/eff_joint_009.csv" + }, + "unit": null + }, + "motion_history_eff_joint_010": { + "value": { + "schema_version": 1, + "name": "eff_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", 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true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_010.json", + "csv": "motion_history/eff_joint_010.csv" + }, + "unit": null + }, + "motion_history_eff_joint_011": { + "value": { + "schema_version": 1, + "name": "eff_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force command on child body" + } + }, + "metadata": { + "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", + "physics_fps": 240.0, + "force_basis": "issued external world force in N; not measured actuator torque or force", + "body_path": "/World/AssetRoot/Asset/right_hand_j", + "runtime_lower": 0.0, + "runtime_upper": 0.981749951839447, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "break_tolerance": 0.1, + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 6.0 + } + }, + "clock_source": "estimated", + "stop_reason": "force_directions_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/eff_joint_011.json", + "csv": "motion_history/eff_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 289.063, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 47.2, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 11328, + "planned_nominal_ticks_estimate": 11328, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 288.98399999993853, + "setup_elapsed_wall_seconds": 4.375, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3071.0160000000615, + "observed_service_seconds_per_nominal_tick": 0.025124382062141466, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 222.7089999988675, + "attempts": 11328 + }, + "captures": { + "wall_seconds": 41.40899999986868, + "attempts": 87 + }, + "bounds": { + "wall_seconds": 8.020000000484288, + "attempts": 496 + }, + "camera": { + "wall_seconds": 1.479000000632368, + "attempts": 9900 + }, + "optional_motion": { + "wall_seconds": 1.894000000669621, + "attempts": 11186 + }, + "commands": { + "wall_seconds": 3.113999999128282, + "attempts": 11088 + }, + "encoding": { + "wall_seconds": 4.297000000020489, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 19, + "unit": null + }, + "frs_joints_tested": { + "value": 11, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 8, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + 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"unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.29146823287010193, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "right_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_d2/right_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_003.json", + "csv": "motion_history/frs_joint_003.csv" + }, + "unit": null + }, + "motion_history_frs_joint_004": { + "value": { + "schema_version": 1, + "name": "frs_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7984899282455444, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_004.json", + "csv": "motion_history/frs_joint_004.csv" + }, + "unit": null + }, + "motion_history_frs_joint_005": { + "value": { + "schema_version": 1, + "name": "frs_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 1.3339998722076416, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_005.json", + "csv": "motion_history/frs_joint_005.csv" + }, + "unit": null + }, + "motion_history_frs_joint_006": { + "value": { + "schema_version": 1, + "name": "frs_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.7984899282455444, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_006.json", + "csv": "motion_history/frs_joint_006.csv" + }, + "unit": null + }, + "motion_history_frs_joint_007": { + "value": { + "schema_version": 1, + "name": "frs_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 1.3339998722076416, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_007.json", + "csv": "motion_history/frs_joint_007.csv" + }, + "unit": null + }, + "motion_history_frs_joint_008": { + "value": { + "schema_version": 1, + "name": "frs_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.5828999876976013, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_008.json", + "csv": "motion_history/frs_joint_008.csv" + }, + "unit": null + }, + "motion_history_frs_joint_009": { + "value": { + "schema_version": 1, + "name": "frs_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.981749951839447, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_009.json", + "csv": "motion_history/frs_joint_009.csv" + }, + "unit": null + }, + "motion_history_frs_joint_010": { + "value": { + "schema_version": 1, + "name": "frs_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.29146823287010193, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_010.json", + "csv": "motion_history/frs_joint_010.csv" + }, + "unit": null + }, + "motion_history_frs_joint_011": { + "value": { + "schema_version": 1, + "name": "frs_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "current sweep segment destination" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "runtime_lower": 0.0, + "runtime_upper": 0.981749951839447, + "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", + "rest_tolerance": 0.1, + "velocity_hint_native_per_second": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", + "zero_return_tolerance": 0.01, + "tolerance_basis": "existing native joint-position verdict thresholds", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "sweep_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 254, + "json": "motion_history/frs_joint_011.json", + "csv": "motion_history/frs_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in 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"trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_007.json", + "csv": "motion_history/gripper_sphere_joint_007.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_008": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_008.json", + "csv": "motion_history/gripper_sphere_joint_008.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_009": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_009.json", + "csv": "motion_history/gripper_sphere_joint_009.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_010": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 4.0, + "damping": 0.10000000149011612, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 408, + "json": "motion_history/gripper_sphere_joint_010.json", + "csv": "motion_history/gripper_sphere_joint_010.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_002": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_003": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_004": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/right_hand_c", + "/World/AssetRoot/Asset/right_hand_t", + "/World/AssetRoot/Asset/right_hand_s", + "/World/AssetRoot/Asset/right_hand_q", + "/World/AssetRoot/Asset/right_hand_r" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 78, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "joint_movement", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 268.86, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 15.795, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 351.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.188, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_rot_deg": { + "value": 56.602, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_bbox_m": { + "value": 0.0609, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_translation_stage_units": { + "value": 7.543137941999952e-08, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_bbox_diagonal_stage_units": { + "value": 0.06094316187404808, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Opposition_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_rot_deg": { + "value": 55.601, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_bbox_m": { + "value": 0.1218, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_translation_stage_units": { + "value": 5.723376450100768e-08, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_bbox_diagonal_stage_units": { + "value": 0.12182433376732753, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_pct_of_travel": { + "value": 100.0, + "unit": null + }, + "jm_joint_Right_Hand_Thumb_Flexion_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_right_hand_j3_rot_deg": { + "value": 56.448, + "unit": null + }, + "jm_joint_right_hand_j3_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_right_hand_j3_bbox_m": { + "value": 0.0856, + "unit": null + }, + "jm_joint_right_hand_j3_translation_stage_units": { + "value": 2.06072026391566e-07, + "unit": null + }, + "jm_joint_right_hand_j3_bbox_diagonal_stage_units": { + "value": 0.08561019063756609, + "unit": null + }, + 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+ }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Right_Hand_Ring_Finger", + "follower_joint_name": "right_hand_j16", + "gearing": -1.420930027961731, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.420930027961731, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 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"source": "RobotHandle articulation position readback" + }, + "incremental_displacement": { + "unit": "rad", + "source": "measured follower position minus measured pair rest position" + }, + "expected_displacement": { + "unit": "rad", + "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" + }, + "incremental_error": { + "unit": "rad", + "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "reference_joint_name": "Right_Hand_Ring_Finger", + "follower_joint_name": "right_hand_j16", + "gearing": -1.420930027961731, + "offset": 0.0, + "mimic_schema_backend": "physx", + "diagnostic_multiplier": 1.420930027961731, + "diagnostic_absolute_offset": -0.0, + "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", + "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", + "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", + "gear_ratio_tolerance": 0.1, + "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", + "joint_name": "right_hand_j16", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_n/right_hand_j16", + "meters_per_unit": 1.0, + "authored_drive": {} + }, + "clock_source": "estimated", + "stop_reason": "mimic_pair_sweep_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 48, + "json": "motion_history/mim_follower_008.json", + "csv": "motion_history/mim_follower_008.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": 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"position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_005.json", + "csv": "motion_history/mjc_joint_005.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_007": { + "value": { + "schema_version": 1, + "name": "mjc_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_007.json", + "csv": "motion_history/mjc_joint_007.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_010": { + "value": { + "schema_version": 1, + "name": "mjc_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_010.json", + "csv": "motion_history/mjc_joint_010.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_011": { + "value": { + "schema_version": 1, + "name": "mjc_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_011.json", + "csv": "motion_history/mjc_joint_011.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_012": { + "value": { + "schema_version": 1, + "name": "mjc_joint_012", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_012.json", + "csv": "motion_history/mjc_joint_012.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_013": { + "value": { + "schema_version": 1, + "name": "mjc_joint_013", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_013.json", + "csv": "motion_history/mjc_joint_013.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "multi_joint_coordination_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 102.031, + "message": "", + "metrics": { + "mjc_total_joints": { + "value": 19, + "unit": null + }, + "mjc_valid_joints": { + "value": 11, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_unbounded_nonangular_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265676649693, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "mjc_timing_iterations": { + "value": [ + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { + "name": "Right_Hand_Thumb_Opposition", + "index": 0, + "velocity_hint": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "displacement": 0.33545906729763375, + "estimated_command_peak_speed": 0.2515943004732253, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0010468535997699632 + }, + { + "name": "Right_Hand_Thumb_Flexion", + "index": 1, + "velocity_hint": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "displacement": 0.3305528343445621, + "estimated_command_peak_speed": 0.2479146257584216, + "initial_command_clipped": true, + "estimated_initial_command_step_speed": 0.14804708305746317 + }, + { + "name": "right_hand_index_spread", + "index": 4, + "velocity_hint": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "displacement": 0.09909911802780413, + "estimated_command_peak_speed": 0.0743243385208531, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.00030925462613711445 + }, + { + "name": "Right_Hand_Index_Finger_Proximal", + "index": 5, + "velocity_hint": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "displacement": 0.2714813792300629, + "estimated_command_peak_speed": 0.20361103442254716, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0008472010054965937 + }, + { + "name": "Right_Hand_Index_Finger_Distal", + "index": 6, + "velocity_hint": 3.1415927410125732, + "velocity_hint_source": "runtime joint velocity ceiling", + "displacement": 0.45356092156472183, + "estimated_command_peak_speed": 0.3401706911735414, + "initial_command_clipped": false, + 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physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per 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"target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_006.json", + "csv": "motion_history/mjc_joint_006.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_008": { + "value": { + "schema_version": 1, + "name": "mjc_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_008.json", + "csv": "motion_history/mjc_joint_008.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_009": { + "value": { + "schema_version": 1, + "name": "mjc_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_009.json", + "csv": "motion_history/mjc_joint_009.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_011": { + "value": { + "schema_version": 1, + "name": "mjc_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_011.json", + "csv": "motion_history/mjc_joint_011.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_012": { + "value": { + "schema_version": 1, + "name": "mjc_joint_012", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_012.json", + "csv": "motion_history/mjc_joint_012.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_015": { + "value": { + "schema_version": 1, + "name": "mjc_joint_015", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_015.json", + "csv": "motion_history/mjc_joint_015.csv" + }, + "unit": null + }, + "motion_history_mjc_joint_016": { + "value": { + "schema_version": 1, + "name": "mjc_joint_016", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_target": { + "unit": "rad", + "source": "iteration goal position used by the existing convergence check" + }, + "target_error": { + "unit": "rad", + "source": "absolute measured joint position minus iteration goal" + } + }, + "metadata": { + "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", + "physics_fps": 240.0, + "encoded_video_fps": 2, + "capture_interval_steps": 120, + "iterations": 3, + "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", + "position_tolerance_config_deg": 1.0, + "applied_native_position_tolerance": 0.017453292519943295, + "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", + "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", + "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 304, + "json": "motion_history/mjc_joint_016.json", + "csv": "motion_history/mjc_joint_016.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.547, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.456, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 932.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.61, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": 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1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 67, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 62, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + }, + "motion_history_sta_joint_007": { + "value": { + "schema_version": 1, + "name": "sta_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 60, + "json": "motion_history/sta_joint_007.json", + "csv": "motion_history/sta_joint_007.csv" + }, + "unit": null + }, + "motion_history_sta_joint_008": { + "value": { + "schema_version": 1, + "name": "sta_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 59, + "json": "motion_history/sta_joint_008.json", + "csv": "motion_history/sta_joint_008.csv" + }, + "unit": null + }, + "motion_history_sta_joint_009": { + "value": { + "schema_version": 1, + "name": "sta_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 67, + "json": "motion_history/sta_joint_009.json", + "csv": "motion_history/sta_joint_009.csv" + }, + "unit": null + }, + "motion_history_sta_joint_010": { + "value": { + "schema_version": 1, + "name": "sta_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 63, + "json": "motion_history/sta_joint_010.json", + "csv": "motion_history/sta_joint_010.csv" + }, + "unit": null + }, + "motion_history_sta_joint_011": { + "value": { + "schema_version": 1, + "name": "sta_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 64, + "json": "motion_history/sta_joint_011.json", + "csv": "motion_history/sta_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "state_accuracy_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 548.859, + "message": "", + "metrics": { + "sta_joints_with_limits": { + "value": 11, + "unit": null + }, + "sta_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "sta_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "sta_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "sta_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265676649693, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 15.969, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 110, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 145.17, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 4.265, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "sta_joints_tested": { + "value": 11, + "unit": null + }, + "sta_joints_passed": { + "value": 11, + "unit": null + }, + "sta_joints_failed": { + "value": 0, + "unit": null + }, + "sta_max_position_error_deg": { + "value": 0.23283811790929065, + "unit": null + }, + "motion_history_sta_joint_001": { + "value": { + "schema_version": 1, + "name": "sta_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e1/Right_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 171, + "json": "motion_history/sta_joint_001.json", + "csv": "motion_history/sta_joint_001.csv" + }, + "unit": null + }, + "motion_history_sta_joint_002": { + "value": { + "schema_version": 1, + "name": "sta_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_a/Right_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 238, + "json": "motion_history/sta_joint_002.json", + "csv": "motion_history/sta_joint_002.csv" + }, + "unit": null + }, + "motion_history_sta_joint_003": { + "value": { + "schema_version": 1, + "name": "sta_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_d2/right_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_003.json", + "csv": "motion_history/sta_joint_003.csv" + }, + "unit": null + }, + "motion_history_sta_joint_004": { + "value": { + "schema_version": 1, + "name": "sta_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 171, + "json": "motion_history/sta_joint_004.json", + "csv": "motion_history/sta_joint_004.csv" + }, + "unit": null + }, + "motion_history_sta_joint_005": { + "value": { + "schema_version": 1, + "name": "sta_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_005.json", + "csv": "motion_history/sta_joint_005.csv" + }, + "unit": null + }, + "motion_history_sta_joint_006": { + "value": { + "schema_version": 1, + "name": "sta_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 171, + "json": "motion_history/sta_joint_006.json", + "csv": "motion_history/sta_joint_006.csv" + }, + "unit": null + }, + "motion_history_sta_joint_007": { + "value": { + "schema_version": 1, + "name": "sta_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 191, + "json": "motion_history/sta_joint_007.json", + "csv": "motion_history/sta_joint_007.csv" + }, + "unit": null + }, + "motion_history_sta_joint_008": { + "value": { + "schema_version": 1, + "name": "sta_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/sta_joint_008.json", + "csv": "motion_history/sta_joint_008.csv" + }, + "unit": null + }, + "motion_history_sta_joint_009": { + "value": { + "schema_version": 1, + "name": "sta_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/sta_joint_009.json", + "csv": "motion_history/sta_joint_009.csv" + }, + "unit": null + }, + "motion_history_sta_joint_010": { + "value": { + "schema_version": 1, + "name": "sta_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 170, + "json": "motion_history/sta_joint_010.json", + "csv": "motion_history/sta_joint_010.csv" + }, + "unit": null + }, + "motion_history_sta_joint_011": { + "value": { + "schema_version": 1, + "name": "sta_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "final_goal": { + "unit": "rad", + "source": "waypoint destination; not necessarily the issued command" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + }, + "goal_error": { + "unit": "rad", + "source": "waypoint destination minus position" + } + }, + "metadata": { + "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "position_tolerance_rad": 0.08726646259971647, + "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "waypoint_sequence_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 252, + "json": "motion_history/sta_joint_011.json", + "csv": "motion_history/sta_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 44.062, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 11, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265745157532, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 2.235, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 11, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 203.18, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.188, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 11, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e1/Right_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_a/Right_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_d2/right_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 17, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + }, + "motion_history_vel_joint_007": { + "value": { + "schema_version": 1, + "name": "vel_joint_007", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_007.json", + "csv": "motion_history/vel_joint_007.csv" + }, + "unit": null + }, + "motion_history_vel_joint_008": { + "value": { + "schema_version": 1, + "name": "vel_joint_008", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 12, + "json": "motion_history/vel_joint_008.json", + "csv": "motion_history/vel_joint_008.csv" + }, + "unit": null + }, + "motion_history_vel_joint_009": { + "value": { + "schema_version": 1, + "name": "vel_joint_009", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 17, + "json": "motion_history/vel_joint_009.json", + "csv": "motion_history/vel_joint_009.csv" + }, + "unit": null + }, + "motion_history_vel_joint_010": { + "value": { + "schema_version": 1, + "name": "vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 2.0, + "damping": 0.550000011920929, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 14, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 70.625, + "message": "", + "metrics": { + "vel_joints_skipped_passive": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_mimic_follower": { + "value": 8, + "unit": null + }, + "vel_joints_skipped_loop": { + "value": 0, + "unit": null + }, + "vel_joints_with_limits": { + "value": 11, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.1395265676649693, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 5.001, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 166.7, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.469, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 11, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Thumb_Opposition", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e1/Right_Hand_Thumb_Opposition", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 54, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Thumb_Flexion", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_a/Right_Hand_Thumb_Flexion", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 113, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_hand_index_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_d2/right_hand_index_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Index_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_l/Right_Hand_Index_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 49, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Index_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_l/Right_Hand_Index_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 85, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Middle_Finger_Proximal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_k/Right_Hand_Middle_Finger_Proximal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 49, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + }, + "motion_history_vel_joint_007": { + "value": { + "schema_version": 1, + "name": "vel_joint_007", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Middle_Finger_Distal", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_k/Right_Hand_Middle_Finger_Distal", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 85, + "json": "motion_history/vel_joint_007.json", + "csv": "motion_history/vel_joint_007.csv" + }, + "unit": null + }, + "motion_history_vel_joint_008": { + "value": { + "schema_version": 1, + "name": "vel_joint_008", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Finger_Spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e4/Right_Hand_Finger_Spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 43, + "json": "motion_history/vel_joint_008.json", + "csv": "motion_history/vel_joint_008.csv" + }, + "unit": null + }, + "motion_history_vel_joint_009": { + "value": { + "schema_version": 1, + "name": "vel_joint_009", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Pinky", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_i/Right_Hand_Pinky", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_009.json", + "csv": "motion_history/vel_joint_009.csv" + }, + "unit": null + }, + "motion_history_vel_joint_010": { + "value": { + "schema_version": 1, + "name": "vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "right_hand_ring_spread", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_e5/right_hand_ring_spread", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 35, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "Right_Hand_Ring_Finger", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/right_hand_virtual_j/Right_Hand_Ring_Finger", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416666269302368, + "damping": 0.0, + "max_force": 5.0 + } + }, + "clock_source": "estimated", + "stop_reason": "step_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 120, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_validation.json b/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..afde0975f707ea9874324f1712579fc178b56a55 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/.metadata/schunk_svh_flat_r_svh_flat_r_v2_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/svh-flat-r_v2.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/schunk_svh_flat_r_svh_flat_r_v2/.thumbs/256x256/svh-flat-r_v2.usda.png b/schunk_svh_flat_r_svh_flat_r_v2/.thumbs/256x256/svh-flat-r_v2.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..7d667143f731f818b5e81a6bc2e3246076c347a8 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/.thumbs/256x256/svh-flat-r_v2.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbd32b3e4921b194f0d0e690dfbcd082fa2d1ea8ee5caa1c56a6a077707c62c9 +size 48699 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_BaseColor.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..c00f298ce88eb8d6110af2e167b0a00f676dba20 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1d042502d7d94bca13cee10c63ab5b3801fb0a46e26d79169e13f5b9c7b5a31 +size 16903 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Normal.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..5df7bc7dfc36971b8fa5314b1a98337d2adb46e5 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dc1cb1b23a9abd766188a85ccbad1a2639d0a9a334f284e359c6c5d4438608e +size 3321558 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_ORM.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..8e7015d41934f1e97892a5ce339e6ab32b629552 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:768f2dbb4f702a9624b912b431efd1a6a8e0ff3e93744cf54f3866ef8f7986e9 +size 637843 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Red.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Red.mdl new file mode 100644 index 0000000000000000000000000000000000000000..6b4b429a94a1a6ec6003ac76002edf4ff2316fc7 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Anodized_Red.mdl @@ -0,0 +1,43 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Aluminum_Anodized_Red(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Aluminum_Anodized_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(0.5f, 0.025f, 0.025f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Aluminum_Anodized_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Aluminum_Anodized_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast.mdl new file mode 100644 index 0000000000000000000000000000000000000000..be08e1f6670f5bef6f5da943406484c8867ed4f4 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast.mdl @@ -0,0 +1,54 @@ +mdl 1.4; + +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::key_words; +import ::anno::version; +import ::tex::gamma_mode; +import ::state::normal; + +export material Aluminum_Cast(*) +[[ + ::anno::display_name("Omni PBR "), + ::anno::description("Omni PBR, supports ORM textures"), + ::anno::version(1, 0, 0, ""), + ::anno::author("NVIDIA CORPORATION"), + ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic")) +]] + = ::OmniPBR::OmniPBR( + diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f), + diffuse_texture: texture_2d("./Aluminum_Cast_BaseColor.png" /* tag 2739, version 3703676365 */, ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.5f, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Aluminum_Cast_ORM.png" /* tag 2741, version 2892271140 */, ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.f, 0.100000001f, 0.100000001f), + emissive_mask_texture: texture_2d(), + emissive_intensity: 40.f, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Aluminum_Cast_N.png" /* tag 2743, version 2148533726 */, ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_BaseColor.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..ca744539be764116ef8d64a9ef9eb815f00814d7 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03ab7494d37e1f6551a26894628c5fe03a65b4d85a09ed11337e184852a580b3 +size 1154931 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_N.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_N.png new file mode 100644 index 0000000000000000000000000000000000000000..d01c8569858b610ab3b5594f97590a5d9a2a922e --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_N.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:812c0161ea14abc581cb35c47b33dc6005c089f8e82dca6cb4dd4832deb0556c +size 6557833 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_ORM.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..9c237244127ac6fdce0ded7cb69a55533864a962 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Cast_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571eba5a99da444b681609a722a29914490c6dae45d230dac471a45875211a4c +size 4198310 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b2afa2e2d3712fa674c594987fe0546a7ab4f853 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Aluminum_Polished(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Aluminum_Polished_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Aluminum_Polished_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Aluminum_Polished_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_BaseColor.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..c00f298ce88eb8d6110af2e167b0a00f676dba20 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1d042502d7d94bca13cee10c63ab5b3801fb0a46e26d79169e13f5b9c7b5a31 +size 16903 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_Normal.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..0516db787ca177fd1bc81c586118c682051c2e38 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8221595d4a575d1e95f059288ce11f1bd0bc7c107ad77bbe482ae7c717816c65 +size 2272406 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_ORM.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..fe1845f40dfa5c2c8cb3cfbd54e10f4669d7fe30 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Aluminum_Polished_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27a1ffae09aca47be92ea6d9df39d365c58fb7e4d6a28ed3d14563a696b5dad4 +size 643206 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass.mdl new file mode 100644 index 0000000000000000000000000000000000000000..78e9c6df56d89a484336a3b7d2d153d323428c8e --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass.mdl @@ -0,0 +1,54 @@ +mdl 1.4; + +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::key_words; +import ::anno::version; +import ::tex::gamma_mode; +import ::state::normal; + +export material Brass(*) +[[ + ::anno::display_name("Omni PBR "), + ::anno::description("Omni PBR, supports ORM textures"), + ::anno::version(1, 0, 0, ""), + ::anno::author("NVIDIA CORPORATION"), + ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic")) +]] + = ::OmniPBR::OmniPBR( + diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f), + diffuse_texture: texture_2d("./Brass_BaseColor.png" /* tag 2784, version 2867840297 */, ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.5f, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.5f, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Brass_ORM.png" /* tag 2786, version 3429153493 */, ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.f, 0.100000001f, 0.100000001f), + emissive_mask_texture: texture_2d(), + emissive_intensity: 40.f, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Brass_N.png" /* tag 2788, version 4097231851 */, ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_BaseColor.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..f7872d7eff9445d8e4d206cf6301a3cc359ec46a --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cfc0397b5b4f41dca920ccfda0c4f06763ea457cf292a45aefd415ee5f000fd +size 1466378 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_N.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_N.png new file mode 100644 index 0000000000000000000000000000000000000000..331508561e7ef554171f1e2a9b59103ba7c5512e --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_N.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2798f76c92a1f861e5063bf051909afec5356af9ae1003321fa2216a2a8ff7d +size 14776302 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_ORM.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..dee2fbf2eed6785b3f1e8ad258ea74f97dfac02d --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Brass_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43fa990cf1b903c757c0df239f65db64b99fe15b1f9d22ce66236e1f9686f255 +size 8792985 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_ABS.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_ABS.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4d5c6a96c6bf9d2c342c11f6a2e1cb7c2a0e9a16 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_ABS.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Plastic_ABS(*) + = OmniPBR( + diffuse_color_constant: color(1.0, 1.0, 1.0), + diffuse_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_BaseColor.png", ::tex::gamma_srgb + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(0.005f, 0.005f, 0.005f), + reflection_roughness_constant: 0.28, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.0, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_ORM.png", ::tex::gamma_linear + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(0.0, 0.0, 0.0), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.0, + bump_factor: 1.f, + normalmap_texture: texture_2d(), //"./Plastic_ABS/Plastic_ABS_Normal.png", ::tex::gamma_linear + detail_bump_factor: 0.3f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_Clear.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_Clear.mdl new file mode 100644 index 0000000000000000000000000000000000000000..60e6323a17cad18bf992d605dfad70fefa311a29 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Plastic_Clear.mdl @@ -0,0 +1,21 @@ +mdl 1.3; + +import ::OmniGlass::OmniGlass; +import ::tex::gamma_mode; +import ::state::normal; + +export material Plastic_Clear(*) + = OmniGlass::OmniGlass( + absorption_coeff: color(1.f, 1.f, 1.f), + glass_color: color(1.f, 1.f, 1.f), + use_glass_color_texture: false, + glass_color_texture: texture_2d(), + frosting_roughness: 0.f, + glass_ior: 1.46f, + thin_walled: true, + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f)); \ No newline at end of file diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured.mdl b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured.mdl new file mode 100644 index 0000000000000000000000000000000000000000..37409611da0270d7d4c8776e4c4ac6bc99233e53 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured.mdl @@ -0,0 +1,42 @@ +mdl 1.4; + +using ::OmniPBR import OmniPBR; +import ::tex::gamma_mode; +import ::state::normal; + +export material Rubber_Textured(*) + = OmniPBR( + diffuse_color_constant: color(0.500000, 0.500000, 0.500000), + diffuse_texture: texture_2d("./Rubber_Textured_BaseColor.png", ::tex::gamma_srgb), + albedo_desaturation: 0.f, + albedo_add: 0.f, + albedo_brightness: 1.f, + diffuse_tint: color(1.f, 1.f, 1.f), + reflection_roughness_constant: 0.000000, + reflection_roughness_texture_influence: 1.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.000000, + metallic_texture_influence: 1.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: true, + ORM_texture: texture_2d("./Rubber_Textured_ORM.png", ::tex::gamma_linear), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: false, + emissive_color: color(1.000000, 1.000000, 1.000000), + emissive_mask_texture: texture_2d(), + emissive_intensity: 0.000000, + bump_factor: 1.f, + normalmap_texture: texture_2d("./Rubber_Textured_Normal.png", ::tex::gamma_linear), + detail_bump_factor: 0.300000012f, + detail_normalmap_texture: texture_2d(), + project_uvw: false, + world_or_object: false, + uv_space_index: 0, + texture_translate: float2(0.f), + texture_rotate: 0.f, + texture_scale: float2(1.f), + detail_texture_translate: float2(0.f), + detail_texture_rotate: 0.f, + detail_texture_scale: float2(1.f)); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_BaseColor.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_BaseColor.png new file mode 100644 index 0000000000000000000000000000000000000000..d39e545b4029067096fcc4e9fff22a44bf0741ed --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_BaseColor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25e715d7c65ba33a1c920d0e5c8ba119f3737c0dec183bc1cbec67b25fa19054 +size 16903 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_Normal.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_Normal.png new file mode 100644 index 0000000000000000000000000000000000000000..7bd147f75f3986363de6fa6c7de569ef01cf0263 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_Normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9897ec963a360ff3c62b15013c88a8f7aa7534bbfea92251bf80e2a0933ff6a +size 5161841 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_ORM.png b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_ORM.png new file mode 100644 index 0000000000000000000000000000000000000000..12213787fb2dbd3c25625ad0ec87bae7bd1efd67 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/Textures/Rubber_Textured_ORM.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6368c9d99e2759151dc6205f107e6a87516884ab084ed3264efe4f63536b199 +size 1155371 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/com.nvidia.simready.packaging.json b/schunk_svh_flat_r_svh_flat_r_v2/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..90ba6a8ee14e211f4cf6e7f74da66e8b0fe19ac8 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.schunk_svh_flat_r_svh_flat_r_v2.1.0.0", + "license": "CC-BY-4.0", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "cdbc442f3b66bd69b2f4800eb0948293a0b2db0aed8dc1a36fe7ed23745f681a" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "ee35203401e4d57367efb601f230148692c0377840305b7e6ae09b5d7965fa41" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "c5da0db59e9f50c34722e2a94ea0e17f3423647c94ecd8f2e0bfd3eeb17546a6" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + } + }, + { + "name": "schunk_svh_flat_r_svh_flat_r_v2_benchmark.json", + "hash": { + "sha256": "73123e2708167fd292de8a5a737ae192ddafe3fd014627f5a7a2774b4c2c7e81" + } + }, + { + "name": "schunk_svh_flat_r_svh_flat_r_v2_validation.json", + "hash": { + "sha256": "2e61ad51cedd9318364f114c02fca066ef46f96f93e2bc0fd13ef38ae4e0483c" + } + } + ], + "content_hash": { + "sha256": "f8e8135b2554e04f20ec82e222900a7012b494172d1ed7bb63ba1cede49477bc" + }, + "package_hash": { + "sha256": "e385efd509b43f3d4baed2cc381bd3aa95def9323a0d6be5980b2708fbce7536" + } +} diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBRBase.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR_ClearCoat.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/aux_definitions.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/core_definitions.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/license.txt b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/support_definitions.mdl b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/mujoco.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..7402166a1d61baad3b31889d97719f93faa41a76 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/mujoco.usda @@ -0,0 +1,513 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" +{ + over "root_joint" + { + } + + over "base_link" + { + over "right_hand_base_joint" + { + } + } + + over "right_hand_base_link" + { + over "right_hand_f4" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_e1" + { + over "Right_Hand_Thumb_Opposition" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "right_hand_f1" + { + } + + over "right_hand_j5" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + + over "Typenschild_3D" + { + over "Typenschild_3D" + { + over "Curve" + { + } + + over "Curve_001" + { + } + + over "Curve_002" + { + } + + over "Curve_003" + { + } + + over "Curve_004" + { + } + + over "Curve_005" + { + } + + over "Curve_006" + { + } + + over "Curve_007" + { + } + + over "Curve_008" + { + } + + over "Curve_009" + { + } + } + } + } + + over "right_hand_z" + { + over "right_hand_Thumb_Helper" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_virtual_a" + { + over "Right_Hand_Thumb_Flexion" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "right_hand_a" + { + over "right_hand_j3" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_b" + { + over "right_hand_j4" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_c" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_d" + { + over "right_hand_f2" + { + } + + over "right_hand_middle_spread_dummy" + { + } + } + + over "right_hand_h" + { + over "right_hand_f3" + { + } + } + + over "right_hand_d2" + { + over "right_hand_index_spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + } + + over "right_hand_virtual_l" + { + over "Right_Hand_Index_Finger_Proximal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_l" + { + over "Right_Hand_Index_Finger_Distal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_p" + { + over "right_hand_j14" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_t" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_virtual_k" + { + over "Right_Hand_Middle_Finger_Proximal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_k" + { + over "Right_Hand_Middle_Finger_Distal" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_o" + { + over "right_hand_j15" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_s" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_e2" + { + over "right_hand_f5" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_e3" + { + over "right_hand_f6" + { + } + } + + over "right_hand_e" + { + over "right_hand_f7" + { + } + + over "right_hand_f8" + { + } + } + + over "right_hand_e4" + { + over "Right_Hand_Finger_Spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + } + + over "right_hand_virtual_i" + { + over "Right_Hand_Pinky" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_i" + { + over "right_hand_j13" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_m" + { + over "right_hand_j17" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_q" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_e5" + { + over "right_hand_ring_spread" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + } + + over "right_hand_virtual_j" + { + over "Right_Hand_Ring_Finger" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_j" + { + over "right_hand_j12" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_n" + { + over "right_hand_j16" ( + delete apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "right_hand_r" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physics.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..4414b607552f2f7d2c5b5af876debc47bacccad3 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physics.usda @@ -0,0 +1,1137 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 0.01 + + def PhysicsFixedJoint "right_hand_base_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + bool physics:jointEnabled = 1 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + def PhysicsFixedJoint "root_joint" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] + ) + { + rel physics:body1 = + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + over "right_hand_base_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, -0.000023, 0.139371) + float physics:mass = 0.57743 + + def PhysicsFixedJoint "right_hand_f4" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, -0.01313, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_e1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.0169, 0.02626, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.09228677, -0.7011287, 0.70098597, -0.09230557) + quatf physics:localRot1 = (0, 0, 1, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.602497 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsFixedJoint "right_hand_f1" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_hand_j5" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0184, 0.006, 0.0375) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_z" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0.002024, 0.178636) + float physics:mass = 0.0739 + + def PhysicsFixedJoint "right_hand_Thumb_Helper" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.04596) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.0000025598426, 0.70707273, 0.0000025595964, 0.7071408) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_virtual_a" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.8845817, 0, 0, -0.46638528) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 55.59982 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_a" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.240205, 0.010733, 0.00019) + float physics:mass = 0.41222 + + def PhysicsRevoluteJoint "right_hand_j3" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0485, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.4409 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_b" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.123157, -0.008382, -0.000027) + float physics:mass = 0.08224 + + def PhysicsRevoluteJoint "right_hand_j4" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.03, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 80.559 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_c" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.113729, 0.01094, 0) + float physics:mass = 0.06198 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_d" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "right_hand_f2" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_hand_middle_spread_dummy" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.11) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.5000481, 0.49995184, -0.49999997, 0.49999997) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "right_hand_h" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "right_hand_f3" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "right_hand_d2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "right_hand_index_spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.025, 0, 0.11) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.5000481, 0.49995184, -0.49999997, 0.49999997) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 16.6999 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_l" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003634, 0.000206, -0.09885) + float physics:mass = 0.02383 + + def PhysicsRevoluteJoint "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, -0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 45.750103 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_l" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.261673, 0.003521, 0) + float physics:mass = 0.13003 + + def PhysicsRevoluteJoint "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.04804, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.43256 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_p" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.1384, -0.004609, 0) + float physics:mass = 0.03264 + + def PhysicsRevoluteJoint "right_hand_j14" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.026, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.873 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_t" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102924, 0.000592, 0) + float physics:mass = 0.0324 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_virtual_k" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003357, -0.000008, -0.099643) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, -0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 45.750103 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_10" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_k" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.271122, 0.00413, 0) + float physics:mass = 0.13474 + + def PhysicsRevoluteJoint "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.05004, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.43256 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_11" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_o" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.16683, -0.003774, 0) + float physics:mass = 0.0422 + + def PhysicsRevoluteJoint "right_hand_j15" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.032, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.9036 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_12" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_s" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102794, 0.00042, 0) + float physics:mass = 0.03239 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_13" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_e2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.145071, -0.037868, 0.323449) + float physics:mass = 0.46184 + + def PhysicsFixedJoint "right_hand_f5" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, -0.006, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_14" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_e3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsFixedJoint "right_hand_f6" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "right_hand_e" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.000001 + + def PhysicsFixedJoint "right_hand_f7" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + def PhysicsFixedJoint "right_hand_f8" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + } + + over "right_hand_e4" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.025355, 0, 0.056) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.5000481, -0.49999997, -0.49999997, -0.49995184) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 33.39771 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_i" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003653, 0.000044, 0.100085) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Right_Hand_Pinky" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, 0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.25013 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_15" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_i" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.232293, 0.00622, 0) + float physics:mass = 0.12544 + + def PhysicsRevoluteJoint "right_hand_j13" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.04454, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.4337 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_16" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_m" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.119665, -0.009328, 0) + float physics:mass = 0.02488 + + def PhysicsRevoluteJoint "right_hand_j17" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.022, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 80.04793 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_17" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_q" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102896, 0.000307, 0) + float physics:mass = 0.03234 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_18" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_e5" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001) + float physics:mass = 0.01 + + def PhysicsRevoluteJoint "right_hand_ring_spread" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.003855, 0, 0.0655) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.5000481, -0.49999997, -0.49999997, -0.49995184) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 16.6999 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_j" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.003805, 0.000386, 0.100079) + float physics:mass = 0.02377 + + def PhysicsRevoluteJoint "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.1 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 4 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071408, 0.70707273, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 56.25013 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_19" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_j" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.258283, -0.00154, 0) + float physics:mass = 0.1377 + + def PhysicsRevoluteJoint "right_hand_j12" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.05004, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 76.4337 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_20" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_n" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.166851, -0.00362, 0) + float physics:mass = 0.04207 + + def PhysicsRevoluteJoint "right_hand_j16" ( + prepend apiSchemas = ["PhysicsJointStateAPI:angular"] + ) + { + uniform token physics:axis = "Z" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.032, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 79.927605 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_21" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "right_hand_r" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0.102676, 0.000301, 0) + float physics:mass = 0.03229 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_22" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physx.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..b255cc77d4317b9e2489f0454f8db9813cc63c42 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/Physics/physx.usda @@ -0,0 +1,249 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + upAxis = "Z" +) + +over "svh" +{ + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:articulationEnabled = 1 + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "right_hand_e1" + { + over "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "right_hand_virtual_a" + { + over "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "right_hand_a" + { + over "right_hand_j3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.01511 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_b" + { + over "right_hand_j4" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.44889 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_d2" + { + over "right_hand_index_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -0.5 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_virtual_l" + { + over "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000 + } + } + + over "right_hand_l" + { + over "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxLimitAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + float physxLimit:angular:damping = 0 + float physxLimit:angular:stiffness = 0 + } + } + + over "right_hand_p" + { + over "right_hand_j14" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.045 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_virtual_k" + { + over "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000 + } + } + + over "right_hand_k" + { + over "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 1000000 + } + } + + over "right_hand_o" + { + over "right_hand_j15" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.0454 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_e4" + { + over "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "right_hand_virtual_i" + { + over "Right_Hand_Pinky" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "right_hand_i" + { + over "right_hand_j13" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_m" + { + over "right_hand_j17" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.42307 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_e5" + { + over "right_hand_ring_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -0.5 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_virtual_j" + { + over "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + } + } + + over "right_hand_j" + { + over "right_hand_j12" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } + + over "right_hand_n" + { + over "right_hand_j16" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"] + ) + { + float physxJoint:maxJointVelocity = 57.29578 + float physxMimicJoint:rotZ:gearing = -1.42093 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + } + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/base.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..72809b1f9153040a3445934d99d71030cbd04da7 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/base.usda @@ -0,0 +1,919 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + upAxis = "Z" +) + +def Xform "svh" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + } + + def Xform "base_link" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_base_link" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.075 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Gripper grasp point" + token simready:attactment:socketType = "Gripper" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.06, 0.135) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0, 0, 0.05)] + point3f[] points = [(0, 0, 0), (0, 0, 0.05)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(-0.02, 0, 0), (0.02, 0, 0)] + point3f[] points = [(-0.02, 0, 0), (0.02, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "right_hand_e1" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.01312999986, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0.01312999986, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Typenschild_3D" ( + kind = "component" + ) + { + quatf xformOp:orient = (0.5043442, 0.4956177, -0.4956177, 0.5043442) + double xformOp:rotateX:unitsResolve = 90 + float3 xformOp:scale = (40, 40, 40) + double3 xformOp:scale:unitsResolve = (0.01, 0.01, 0.01) + double3 xformOp:translate = (-0.003504366991289288, -0.015595540018016094, 0.05555574376315941) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve", "xformOp:scale:unitsResolve"] + + def Xform "Typenschild_3D" + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Curve" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_001" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_002" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_003" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_004" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_005" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_006" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_007" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_008" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + + def Xform "Curve_009" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + } + } + } + } + + def Xform "right_hand_z" + { + quatd xformOp:orient = (0.7009859681129456, -0.09230557084083557, 0.09228677302598953, 0.7011287212371826) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.016899999231100082, 0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.02442000061) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.02442000061) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_virtual_a" + { + quatd xformOp:orient = (-0.4305320382118225, 0.5609062314033508, 0.5610235929489136, 0.4304402768611908) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.016902422532439232, 0.025025350973010063, 0.04439394176006317) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_a" + { + quatd xformOp:orient = (-0.18008974194526672, 0.2345142364501953, 0.7578696012496948, 0.5815533995628357) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.016902422532439232, 0.025025350973010063, 0.04439394176006317) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_b" + { + quatd xformOp:orient = (-0.18008974194526672, 0.2345142364501953, 0.7578696012496948, 0.5815533995628357) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.056921787559986115, 0.032106295228004456, 0.0708620548248291) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_c" + { + quatd xformOp:orient = (-0.18008974194526672, 0.2345142364501953, 0.7578696012496948, 0.5815533995628357) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.08167603611946106, 0.03648626059293747, 0.08723407983779907) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_d" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_h" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_d2" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_virtual_l" + { + quatd xformOp:orient = (0.5000481009483337, 0.4999518394470215, -0.4999999701976776, 0.4999999701976776) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02500000037252903, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_l" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.02500000037252903, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_p" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.025000009685754776, -0.013125374913215637, 0.15803998708724976) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_t" ( + prepend apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding ( + bindMaterialAs = "weakerThanDescendants" + ) + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.025000013411045074, -0.013122872449457645, 0.18403998017311096) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_virtual_k" + { + quatd xformOp:orient = (0.5000481009483337, 0.4999518394470215, -0.4999999701976776, 0.4999999701976776) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_k" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -0.013129999861121178, 0.10999999940395355) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_o" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-8.831922748697707e-9, -0.013125183060765266, 0.1600399911403656) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_s" + { + quatd xformOp:orient = (0.7071067094802856, -0.00003403425216674805, -0.7071067094802856, 0.00003403425216674805) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-1.4479835996894508e-8, -0.013122102245688438, 0.19203998148441315) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_e2" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018400000408291817, -0.0071299998089671135, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.000699999975, 0, -0.01001999993) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.000699999975, 0, -0.01001999993) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_e3" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_e" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_e4" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_virtual_i" + { + quatd xformOp:orient = (0.5000481009483337, -0.4999999701976776, -0.4999999701976776, -0.4999518394470215) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.043755002319812775, -0.013129999861121178, 0.09350000321865082) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_i" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.043755002319812775, -0.013129999861121178, 0.09350000321865082) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_m" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.04375928267836571, -0.013129999861121178, 0.1380399912595749) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_q" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.043761394917964935, -0.013129999861121178, 0.1600399911403656) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_e5" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018400000408291817, -0.013129999861121178, 0.03750000149011612) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "right_hand_virtual_j" + { + quatd xformOp:orient = (0.5000481009483337, -0.4999999701976776, -0.4999999701976776, -0.4999518394470215) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.022254999727010727, -0.013129999861121178, 0.10300000011920929) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, -0.01320999954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_j" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.022254999727010727, -0.013129999861121178, 0.10300000011920929) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_n" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.022259807214140892, -0.013129999861121178, 0.15303999185562134) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "right_hand_r" + { + quatd xformOp:orient = (0.7071407437324524, 0, -0.7070726752281189, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.022262882441282272, -0.013129999861121178, 0.18503998219966888) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/geometries.usd b/schunk_svh_flat_r_svh_flat_r_v2/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..968de284efd89fbe1ff0ad44823e5f26bb14009b --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:190f34bb15a464bdfcce54458bbacad64606c7e01ac66dc02301ea1ec874c102 +size 1113277 diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/instances.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..b8d17f8bbb6a39ef650305a1fcd4ca2a5e79b413 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/instances.usda @@ -0,0 +1,5331 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "visuals" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + token visibility = "inherited" + } + + def Scope "VisualMaterials" + { + def Material "Plastic_ABS_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_14" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Plastic_ABS" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Plastic_ABS_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Aluminum_Polished_15" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_16" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "Curve" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_blue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_001" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_001" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_lightblue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_002" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_002" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_003" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_003" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_lightblue" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_004" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_004" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_005" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_005" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_006" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_006" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_007" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_007" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_008" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_008" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "Curve_009" ( + prepend references = @./geometries.usd@ + ) + { + over "Curve_009" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "schunk_white" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_21" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_3" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_18" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_20" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_4" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_16" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_19" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_5" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_17" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_09" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_6" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_11" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_7" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_8" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_9" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + token visibility = "inherited" + + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_9_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + token visibility = "inherited" + } + } + + def Xform "visuals_10" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_10" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_12" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_10_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_10" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_11" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_11" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_11" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_11_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_11" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_12" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_12" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_06" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_12_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_12" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_13" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_13" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_13_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_13" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_14" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_14" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_15" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Plastic_ABS_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + + def Material "Aluminum_Polished_17" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_18" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_14_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_14" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_15" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_15" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_14" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_15_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_15" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_16" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_16" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_13" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_08" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_10" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_16_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_16" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_17" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_17" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_17_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_17" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_18" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_18" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_18_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_18" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_19" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_19" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Aluminum_Polished_13" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Brass_01" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_19_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_19" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_20" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_20" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_12" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_07" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_09" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_20_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_20" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_21" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_21" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_05" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Polished_04" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_21_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_21" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_22" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_22" + { + over "material_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + over "material_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + } + + def Scope "VisualMaterials" + { + def Material "Rubber_Textured_03" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + + def Material "Aluminum_Cast_02" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + } + } + } + + def Xform "visuals_22_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_22" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/materials.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..c0b8b68d0bfdb3f5f3468dd44d79bfed997ada80 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/materials.usda @@ -0,0 +1,1262 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "material_Kunststoff_Schwarz" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.07, 0.07, 0.07) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.07, 0.07, 0.07) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Gummi" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.1, 0.1, 0.1) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Kunststoff_druckschwwarz" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.2, 0.2, 0.2) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Kunststoff_druckteile" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5, 0.5, 0.5) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_Alu" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.45, 0.45, 0.45) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.45, 0.45, 0.45) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_Daumen" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.35, 0.35, 0.35) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.35, 0.35, 0.35) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "material_Metall_goeldlich_002" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.831, 0.686, 0.216) + color3f inputs:emissive_color = (0, 0, 0) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.831, 0.686, 0.216) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Rubber_Textured" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "rubber" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Rubber_Textured.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Rubber_Textured" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Rubber_Textured_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Rubber_Textured_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Aluminum_Polished" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Aluminum_Polished.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Aluminum_Polished" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Polished_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Aluminum_Anodized_Red" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Aluminum_Anodized_Red.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Aluminum_Anodized_Red" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Anodized_BaseColor.png@ + float4 inputs:scale = (0.5, 0.025, 0.025, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Anodized_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Anodized_Normal.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Plastic_Clear" + { + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Plastic_Clear.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Plastic_Clear" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "simready_preview_surfaceshader" + { + uniform token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.5, 0.5, 0.5) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Aluminum_Cast_05" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Aluminum_Cast.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Aluminum_Cast" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Aluminum_Cast_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Plastic_ABS_03" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Plastic_ABS.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Plastic_ABS" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.005, 0.005, 0.005) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.28 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_blue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "plastic" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0, 0.23921569, 0.41568628) + color3f inputs:diffuse_tint = (0, 0.23921569, 0.41568628) + color3f inputs:emissive_color = (0, 0.23921569, 0.41568628) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.057224143, 0.17279509) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_lightblue" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + float inputs:albedo_brightness = 1 + color3f inputs:diffuse_color_constant = (0, 0.61960787, 0.8784314) + color3f inputs:diffuse_tint = (0, 0.61960787, 0.8784314) + color3f inputs:emissive_color = (0, 0.61960787, 0.8784314) + float inputs:emissive_intensity = 10 + bool inputs:enable_emission = 0 + float inputs:reflection_roughness_constant = 0.5 + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0, 0.3839139, 0.7716417) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "schunk_white" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "paint" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:diffuse_tint = (0.8901961, 0.8901961, 0.8901961) + color3f inputs:emissive_color = (0.8901961, 0.8901961, 0.8901961) + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.79244906, 0.79244906, 0.79244906) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } + + def Material "Brass_04" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "brass" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../Textures/Brass.mdl@ + token info:mdl:sourceAsset:subIdentifier = "Brass" + token outputs:out ( + renderType = "material" + ) + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor.connect = + float inputs:metallic.connect = + normal3f inputs:normal.connect = + float inputs:opacity = 1 + float inputs:roughness.connect = + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "SimReady_diffuse_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_BaseColor.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "sRGB" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_ORM_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (0, 0, 0, 0) + asset inputs:file = @./../Textures/Brass_ORM.png@ + float4 inputs:scale = (1, 1, 1, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "SimReady_normalmap_texture" + { + token info:id = "UsdUVTexture" + float4 inputs:bias = (-1, -1, -1, 0) + asset inputs:file = @./../Textures/Brass_N.png@ + float4 inputs:scale = (2, 2, 2, 1) + token inputs:sourceColorSpace = "raw" + float2 inputs:st.connect = + token inputs:wrapS = "repeat" + token inputs:wrapT = "repeat" + float outputs:a + float outputs:b + float outputs:g + float outputs:r + float3 outputs:rgb + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/payloads/robot.usda b/schunk_svh_flat_r_svh_flat_r_v2/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..99a71ea859e84bf88722a268874b093aa7ec5c7e --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/payloads/robot.usda @@ -0,0 +1,447 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_base_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_base_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f4" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_e1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_hand_f1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_hand_j5" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_z" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_Thumb_Helper" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_virtual_a" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_a" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_b" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j4" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_c" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_hand_d" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_hand_middle_spread_dummy" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_h" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_d2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_index_spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_virtual_l" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_l" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_p" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j14" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_t" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_hand_virtual_k" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_k" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_o" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j15" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_s" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_hand_e2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f5" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_e3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f6" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_e" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_f7" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + + over "right_hand_f8" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_e4" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_virtual_i" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Pinky" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_i" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j13" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_m" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j17" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_q" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } + + over "right_hand_e5" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_ring_spread" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_virtual_j" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_j" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j12" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_n" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + over "right_hand_j16" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + } + } + + over "right_hand_r" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/mujoco.usda b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..d7f61355da2733989bbb5a0a5f2ac64c34a931dd --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/mujoco.usda @@ -0,0 +1,635 @@ +#usda 1.0 +( + defaultPrim = "svh" +) + +def "svh" +{ + over "right_hand_base_link" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "right_hand_e1" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_z" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_a" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j3" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.01511 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_b" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j4" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.44889 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_c" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_l" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_l" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_p" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j14" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.045 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_t" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_k" + { + over "collisions" + { + over "visuals_10" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_k" + { + over "collisions" + { + over "visuals_11" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_o" + { + over "collisions" + { + over "visuals_12" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j15" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.0454 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_s" + { + over "collisions" + { + over "visuals_13" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e2" + { + over "collisions" + { + over "visuals_14" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_i" + { + over "collisions" + { + over "visuals_15" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Pinky" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_i" + { + over "collisions" + { + over "visuals_16" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j13" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_m" + { + over "collisions" + { + over "visuals_17" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j17" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.42307 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_q" + { + over "collisions" + { + over "visuals_18" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_j" + { + over "collisions" + { + over "visuals_19" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_j" + { + over "collisions" + { + over "visuals_20" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j12" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_n" + { + over "collisions" + { + over "visuals_21" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j16" ( + prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] + ) + { + float newton:mimicCoef0 = 0 + float newton:mimicCoef1 = 1.42093 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + } + } + + over "right_hand_r" + { + over "collisions" + { + over "visuals_22" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_svh_right_hand_e1_Right_Hand_Thumb_Opposition" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_virtual_a_Right_Hand_Thumb_Flexion" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_virtual_l_Right_Hand_Index_Finger_Proximal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_l_Right_Hand_Index_Finger_Distal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_virtual_k_Right_Hand_Middle_Finger_Proximal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_k_Right_Hand_Middle_Finger_Distal" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_e4_Right_Hand_Finger_Spread" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_virtual_i_Right_Hand_Pinky" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_virtual_j_Right_Hand_Ring_Finger" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_d2_right_hand_index_spread" + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_svh_right_hand_e5_right_hand_ring_spread" + { + double[] mjc:biasPrm = [0, -229.1831180523293, -57.29577951308232] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 10 + double mjc:forceRange:min = -10 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } + + over "right_hand_virtual_a" + { + over "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_d2" + { + over "right_hand_index_spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_e4" + { + over "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "right_hand_e5" + { + over "right_hand_ring_spread" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/newton.usda b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..328cf57018a36f091d6c2143a9dce35724a7a913 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/newton.usda @@ -0,0 +1,551 @@ +#usda 1.0 +( + defaultPrim = "svh" +) + +over "svh" +{ + over "right_hand_base_link" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e1" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_z" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_a" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j3" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.01511 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_b" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j4" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.44889 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_c" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_l" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_l" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_p" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j14" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.045 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_t" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_k" + { + over "collisions" + { + over "visuals_10" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_k" + { + over "collisions" + { + over "visuals_11" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_o" + { + over "collisions" + { + over "visuals_12" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j15" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.0454 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_s" + { + over "collisions" + { + over "visuals_13" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e2" + { + over "collisions" + { + over "visuals_14" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_i" + { + over "collisions" + { + over "visuals_15" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Pinky" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_i" + { + over "collisions" + { + over "visuals_16" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j13" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_m" + { + over "collisions" + { + over "visuals_17" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j17" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.42307 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_q" + { + over "collisions" + { + over "visuals_18" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_j" + { + over "collisions" + { + over "visuals_19" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_j" + { + over "collisions" + { + over "visuals_20" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j12" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.3588 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_n" + { + over "collisions" + { + over "visuals_21" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "right_hand_j16" ( + prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 0 + float newton:mimicCoef0 = -0 + float newton:mimicCoef1 = 1.42093 + bool newton:mimicEnabled = 1 + rel newton:mimicJoint = + float newton:velocityLimit = 180 + } + } + + over "right_hand_r" + { + over "collisions" + { + over "visuals_22" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_a" + { + over "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_d2" + { + over "right_hand_index_spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_e4" + { + over "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "right_hand_e5" + { + over "right_hand_ring_spread" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 5 + float drive:angular:physics:stiffness = 1.0416666 + float newton:damping = 0.041666668 + float newton:velocityLimit = 180 + } + } + + over "root_joint" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] + ) + { + bool newton:selfCollisionEnabled = 0 + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/physx.usda b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..f001216a01fe87e74fa8d405d948137521a6fdcb --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/runnables/physics/physx.usda @@ -0,0 +1,545 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +over "svh" ( + prepend apiSchemas = ["MaterialBindingAPI"] +) +{ + rel material:binding:physics = + + over "root_joint" ( + prepend apiSchemas = ["PhysxArticulationAPI"] + ) + { + bool physxArticulation:articulationEnabled = 1 + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + } + + over "right_hand_e1" + { + over "Right_Hand_Thumb_Opposition" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_1" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_a" + { + over "Right_Hand_Thumb_Flexion" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_a" + { + over "right_hand_j3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.01511 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_3" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_b" + { + over "right_hand_j4" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.44889 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_4" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_d2" + { + over "right_hand_index_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_l" + { + over "Right_Hand_Index_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_6" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_l" + { + over "Right_Hand_Index_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_7" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_p" + { + over "right_hand_j14" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.045 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_8" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_virtual_k" + { + over "Right_Hand_Middle_Finger_Proximal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_10" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_k" + { + over "Right_Hand_Middle_Finger_Distal" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_11" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_o" + { + over "right_hand_j15" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.0454 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_12" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e4" + { + over "Right_Hand_Finger_Spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_i" + { + over "Right_Hand_Pinky" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_15" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_i" + { + over "right_hand_j13" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_16" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_m" + { + over "right_hand_j17" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.42307 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_17" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e5" + { + over "right_hand_ring_spread" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + } + + over "right_hand_virtual_j" + { + over "Right_Hand_Ring_Finger" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_19" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_j" + { + over "right_hand_j12" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.3588 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_20" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_n" + { + over "right_hand_j16" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:maxJointVelocity = 360 + float physxMimicJoint:rotZ:dampingRatio = 1 + float physxMimicJoint:rotZ:gearing = -1.42093 + float physxJoint:armature = 0.01 + float physxMimicJoint:rotZ:naturalFrequency = 300 + float physxMimicJoint:rotZ:offset = 0 + rel physxMimicJoint:rotZ:referenceJoint = + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" + { + over "visuals_21" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_base_link" + { + over "collisions" + { + over "visuals" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_z" + { + over "collisions" + { + over "visuals_2" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_c" + { + over "collisions" + { + over "visuals_5" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_t" + { + over "collisions" + { + over "visuals_9" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_s" + { + over "collisions" + { + over "visuals_13" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_e2" + { + over "collisions" + { + over "visuals_14" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_q" + { + over "collisions" + { + over "visuals_18" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + over "right_hand_r" + { + over "collisions" + { + over "visuals_22" + { + rel material:binding:physics = + token physics:approximation = "convexHull" + } + } + } + + def Material "PhysicsMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] + ) + { + float physics:dynamicFriction = 4 + float physics:restitution = 0 + float physics:staticFriction = 4 + uniform token physxMaterial:frictionCombineMode = "max" + } +} + diff --git a/schunk_svh_flat_r_svh_flat_r_v2/svh-flat-r_v2.usda b/schunk_svh_flat_r_svh_flat_r_v2/svh-flat-r_v2.usda new file mode 100644 index 0000000000000000000000000000000000000000..8f03f7ee5076c83c9b2f70446fe123ee4646dc25 --- /dev/null +++ b/schunk_svh_flat_r_svh_flat_r_v2/svh-flat-r_v2.usda @@ -0,0 +1,1821 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/svh" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.1651686, 0.09853104, 0.21448341) + string asset_license = "CC-BY-4.0" + string asset_name = "svh-flat-r_v2" + string asset_type = "robot" + string author = "Schunk" + string category = "robot end effector" + double mass = 2.6438710258731817 + dictionary omni_layer = { + string authoring_layer = "./svh-flat-r_v2.usda" + } + string qcode = "Q1340324" + dictionary renderSettings = { + } + int rigid_body_count = 31 + string source_file = "Schunk/svh-flat-r/svh-flat-r_v2/svh-flat-r_v2.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "svh" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + upAxis = "Z" +) + +def Xform "svh" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "right_hand_base_link" + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_e1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_z" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_a" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_b" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_c" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_virtual_l" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_l" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_p" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_t" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_virtual_k" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_k" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_o" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_s" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_e2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_virtual_i" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_i" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_m" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_q" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_virtual_j" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_j" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_n" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "right_hand_r" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "base_link" + { + string isaac:nameOverride ( + displayName = "Name Override" + ) + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + +def "Render" ( + hide_in_stage_window = true + no_delete = true +) +{ + def "OmniverseKit" + { + def "HydraTextures" ( + hide_in_stage_window = true + no_delete = true + ) + { + def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" ( + prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"] + hide_in_stage_window = true + no_delete = true + ) + { + token omni:rtx:ambientOcclusion:denoiserMode = "none" + token omni:rtx:background:source:texture:textureMode = "repeatMirrored" + token omni:rtx:background:source:type = "domeLight" + bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1 + token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None" + bool omni:rtx:dlss:frameGeneration = 0 + bool omni:rtx:indirectDiffuse:denoiser:enabled = 0 + bool omni:rtx:material:db:syncLoads = 1 + token omni:rtx:post:dlss:execMode = "performance" + bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1 + bool omni:rtx:post:registeredCompositing:invertToneMap = 1 + bool omni:rtx:pt:adaptiveSampling:filterError = 0 + uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2 + uint omni:rtx:pt:maxSamplesPerLaunch = 2073600 + uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12 + bool omni:rtx:reflections:denoiser:enabled = 0 + token omni:rtx:rendermode = "RealTimePathTracing" + color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1) + bool omni:rtx:rt:demoire = 0 + bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1 + int omni:rtx:rt:sss:samples = 1 + uint omni:rtx:rtpt:maxVolumeBounces = 15 + float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08 + bool omni:rtx:scene:hydra:materialSyncLoads = 1 + bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1 + rel orderedVars = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] + no_delete = true + ) + { + rel products = + } + + def "Vars" ( + hide_in_stage_window = true + no_delete = true + ) + { + def RenderVar "LdrColor" ( + hide_in_stage_window = true + no_delete = true + ) + { + uniform string sourceName = "LdrColor" + uniform token sourceType = "raw" + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json new file mode 100644 index 0000000000000000000000000000000000000000..4a5b7d2d1d71ad21fbf8eb451b84d28149b0ce7a --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -0,0 +1,34 @@ +{ + "format_version": "1.0", + "profile": "Package-Candidate", + "profile_version": "1.0.0", + "timestamp": "2026-11-04T23:10:57", + "assets": [ + { + "asset": "allegro.usda", + "features": [ + { + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [] + } + }, + { + "CAP033_SimReadyPackage.OpenUSD.0-1-0": { + "version": "0-1-0", + "passed": true, + "failing_requirements": [], + "dependencies": [ + "CAP031_SelfContainedPackage.OpenUSD.0-1-0" + ] + } + } + ] + } + ], + "content_hash": { + "sha256": "f628bd151bc42dc47bbb253354a7ad8949db2499e2b4f1821d8aa9036d3c34a4" + } +} diff --git a/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json 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b/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.root_usds.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8492e439412e32621eadb74643cc99316ec15c --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.metadata/com.nvidia.simready.root_usds.json @@ -0,0 +1,6 @@ +{ + "format_version": "1.0", + "entries": [ + "allegro.usda" + ] +} diff --git a/wonikrobotics_allegrohand_allegro/.metadata/license.txt b/wonikrobotics_allegrohand_allegro/.metadata/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..1aa9eea357069baee3a2e2a4b73ee9f1290d2f9b --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.metadata/license.txt @@ -0,0 +1,23 @@ +Copyright (c) 2016, SimLab +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_benchmark.json b/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..244ce39817a7458434575802c58fde994105c8aa --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_benchmark.json @@ -0,0 +1,53869 @@ +{ + "schema_version": "1.0", + "asset": "wonikrobotics_allegrohand_allegro", + "run_timestamp": "2026-10-31T20:07:08.573916+00:00", + "passed": true, + "results": [ + { + "test_name": "culling_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 37.937, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 11.313, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 707.06, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.281, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "culling_xz_qualified_pairs": { + "value": 8, + "unit": null + }, + "culling_xz_omitted_pairs": { + "value": 0, + "unit": null + }, + "culling_xz_omitted_indices": { + "value": [], + 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null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 36, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 18, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 18, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 18, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.484, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 212.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 46574, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 47152, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1378, + 0.1377, + 0.1376 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999979, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.995513, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "display_color_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.25, + "message": "", + "metrics": { + "display_color_render_context_previous": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "display_color_render_context_requested": { + "value": "mtlx", + "unit": null + }, + "display_color_render_context_order": { + "value": "mtlx", + "unit": null + }, + "display_color_asset_root": { + "value": "/World/_SimReadyDisplayColorAsset/Asset", + "unit": null + }, + "display_color_test_scene_deinstanced_prims": { + "value": 36, + "unit": null + }, + "display_color_test_scene_instances_remaining": { + "value": 0, + "unit": null + }, + "display_color_renderable_gprims": { + "value": 18, + "unit": null + }, + "display_color_gprims_without_displaycolor": { + "value": 0, + "unit": null + }, + "display_color_gprims_without_displayopacity": { + "value": 18, + "unit": null + }, + "display_color_probe_bound_gprims": { + "value": 18, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 1.484, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 7, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 212.0, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.547, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "display_color_probe_warmup_captures": { + "value": 2, + "unit": null + }, + "display_color_probe_warmup_sequence": { + "value": [ + "display_color_warmup_read", + "display_color_warmup_read_control" + ], + "unit": null + }, + "display_color_silhouette_pixels": { + "value": 46574, + "unit": null + }, + "display_color_whole_frame_delta_pixels": { + "value": 47152, + "unit": null + }, + "display_color_read_mean_rgb": { + "value": [ + 0.1378, + 0.1377, + 0.1376 + ], + "unit": null + }, + "display_color_control_ratio": { + "value": 0.0, + "unit": null + }, + "display_color_response_ratio": { + "value": 0.999979, + "unit": null + }, + "display_color_opacity_ratio": { + "value": 0.995513, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "drive_gain_validation", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 17.344, + "message": "", + "metrics": { + "dgv_joints_eligible": { + "value": 16, + "unit": null + }, + "dgv_passive_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_mimic_follower_joints_skipped": { + "value": 0, + "unit": null + }, + "dgv_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.225966840919677, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 0.876, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 16, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 54.75, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.094, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "dgv_joints_tested": { + "value": 16, + "unit": null + }, + "dgv_joints_not_evaluated": { + "value": [], + "unit": null + }, + "dgv_joints_passed": { + "value": 16, + "unit": null + }, + "dgv_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_dgv_joint_001": { + "value": { + "schema_version": 1, + "name": "dgv_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/index_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523598775563914, + "start": -3.4384790154051714e-11, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 26, + "json": "motion_history/dgv_joint_001.json", + "csv": "motion_history/dgv_joint_001.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_002": { + "value": { + "schema_version": 1, + "name": "dgv_joint_002", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/middle_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987759299401, + "start": 3.316412422460502e-10, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 30, + "json": "motion_history/dgv_joint_002.json", + "csv": "motion_history/dgv_joint_002.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_003": { + "value": { + "schema_version": 1, + "name": "dgv_joint_003", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/ring_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987759268363, + "start": 3.2853758602513494e-10, + "tolerance": 0.026179938779914938 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_003.json", + "csv": "motion_history/dgv_joint_003.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_004": { + "value": { + "schema_version": 1, + "name": "dgv_joint_004", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/thumb_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235988238139596, + "start": 4.8215660797268356e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_004.json", + "csv": "motion_history/dgv_joint_004.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_005": { + "value": { + "schema_version": 1, + "name": "dgv_joint_005", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_0/index_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235989017225618, + "start": 1.2612426303348911e-07, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_005.json", + "csv": "motion_history/dgv_joint_005.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_006": { + "value": { + "schema_version": 1, + "name": "dgv_joint_006", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_0/middle_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523597437321183, + "start": -1.3382771157921525e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_006.json", + "csv": "motion_history/dgv_joint_006.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_007": { + "value": { + "schema_version": 1, + "name": "dgv_joint_007", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_0/ring_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235975035625243, + "start": -1.272035774491087e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_007.json", + "csv": "motion_history/dgv_joint_007.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_008": { + "value": { + "schema_version": 1, + "name": "dgv_joint_008", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235987914259171, + "start": 1.5827618327080017e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_008.json", + "csv": "motion_history/dgv_joint_008.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_009": { + "value": { + "schema_version": 1, + "name": "dgv_joint_009", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "index_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_1/index_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5235988573532536, + "start": 8.175495480600148e-08, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 32, + "json": "motion_history/dgv_joint_009.json", + "csv": "motion_history/dgv_joint_009.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_010": { + "value": { + "schema_version": 1, + "name": "dgv_joint_010", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "middle_joint_2", + "unit": "rad", + 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capture ticks are not counted", + "target": 0.5236003246151141, + "start": 1.549016815260984e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 168, + "json": "motion_history/dgv_joint_010.json", + "csv": "motion_history/dgv_joint_010.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_011": { + "value": { + "schema_version": 1, + "name": "dgv_joint_011", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_1/ring_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236059396571419, + "start": 7.1640588430454955e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_011.json", + "csv": "motion_history/dgv_joint_011.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_012": { + "value": { + "schema_version": 1, + "name": "dgv_joint_012", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "ring_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_2/ring_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236115602852861, + "start": 1.2784686987288296e-05, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + 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"unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.5236046900637176, + "start": 5.914465418754844e-06, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 166, + "json": "motion_history/dgv_joint_014.json", + "csv": "motion_history/dgv_joint_014.csv" + }, + "unit": null + }, + 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"start": -0.0010773257818073034, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 167, + "json": "motion_history/dgv_joint_015.json", + "csv": "motion_history/dgv_joint_015.csv" + }, + "unit": null + }, + "motion_history_dgv_joint_016": { + "value": { + "schema_version": 1, + "name": "dgv_joint_016", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "target": { + "unit": "rad", + "source": "position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus measured position" + } + }, + "metadata": { + "joint_name": "thumb_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + }, + "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", + "target": 0.523307315259086, + "start": -0.00029146033921279013, + "tolerance": 0.02617993877991494 + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 166, + "json": "motion_history/dgv_joint_016.json", + "csv": "motion_history/dgv_joint_016.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "effort_limit", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 73.344, + "message": "", + "metrics": { + "eff_joints_with_candidates": { + "value": 16, + "unit": null + }, + "eff_joints_skipped_passive": { + "value": 0, + "unit": null + }, + "eff_joints_skipped_mimic_follower": { + "value": 0, + "unit": null + }, + "eff_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.225966840919677, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "eff_force_point_observation": { + "value": { + "basis": "live child-body center of mass", + "unit": "native articulation world coordinates", + "joint": "thumb_joint_3", + "body_path": "/World/AssetRoot/Asset/thumb_link_3", + "direction": "-XZ", + "world_com": [ + 0.10810891124609484, + -0.10263724697479884, + 0.18209343657702015 + ] + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 8.704, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 192, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 45.33, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.875, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "eff_joints_tested": { + "value": 16, + "unit": null + }, + "eff_joints_passed": { + "value": 16, + "unit": null + }, + "eff_joints_failed": { + "value": 0, + "unit": null + }, + "eff_joint_results": { + "value": [ + { + "name": "index_joint_0", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_joint_0", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_joint_0", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_joint_0", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "index_joint_1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_joint_1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_joint_1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_joint_1", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "index_joint_2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_joint_2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_joint_2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_joint_2", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "index_joint_3", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "middle_joint_3", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "ring_joint_3", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + }, + { + "name": "thumb_joint_3", + "broke_directions": [], + "broke_reasons": {}, + "min_break_force_newtons": null, + "commanded_force_at_failure_newtons": null, + "bisection_refinement_requested": true, + "bisection_refinement_available": false, + "ok": true + } + ], + "unit": null + }, + "motion_history_eff_joint_001": { + "value": { + "schema_version": 1, + "name": "eff_joint_001", + "channels": { + "position": { + "unit": "rad", + "source": "RobotHandle articulation position readback" + }, + "external_force_x": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_y": { + "unit": "N", + "source": "world-frame external force command on child body" + }, + "external_force_z": { + "unit": "N", + "source": "world-frame external force 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"message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "full_range_sweep", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 305.828, + "message": "", + "metrics": { + "frs_completed_nominal_simulation_seconds": { + "value": 63.4, + "unit": null + }, + "frs_execution_timing": { + "value": { + "completed_nominal_ticks": 15216, + "planned_nominal_ticks_estimate": 15216, + "plan_estimate_status": "estimated", + "planning_omitted_joints": 0, + "active_joint": null, + "active_segment": "encoding", + "stop_reason": "procedure_completed", + "elapsed_wall_seconds": 305.719000000041, + "setup_elapsed_wall_seconds": 1.047000000020489, + "configured_wall_budget_seconds": 3360.0, + "remaining_wall_budget_seconds": 3054.280999999959, + "observed_service_seconds_per_nominal_tick": 0.02002313354363962, + "estimated_remaining_wall_seconds": 0.0, + "estimated_budget_insufficient": false, + "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", + "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", + "costs": { + "stepping": { + "wall_seconds": 266.24900000251364, + "attempts": 15216 + }, + "captures": { + "wall_seconds": 18.54899999999907, + "attempts": 63 + }, + "bounds": { + "wall_seconds": 9.138999998336658, + "attempts": 721 + }, + "camera": { + "wall_seconds": 0.6889999996637926, + "attempts": 14400 + }, + "optional_motion": { + "wall_seconds": 2.0630000007804483, + "attempts": 15055 + }, + "commands": { + "wall_seconds": 3.566999999457039, + "attempts": 14976 + }, + "encoding": { + "wall_seconds": 2.2820000000065193, + "attempts": 1 + } + } + }, + "unit": null + }, + "frs_total_dofs": { + "value": 16, + "unit": null + }, + "frs_joints_tested": { + "value": 16, + "unit": null + }, + "frs_passive_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "frs_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.225966840919677, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + 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"identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_2/middle_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 404, + "json": "motion_history/gripper_sphere_joint_013.json", + "csv": "motion_history/gripper_sphere_joint_013.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_014": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_014", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "ring_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_2/ring_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 404, + "json": "motion_history/gripper_sphere_joint_014.json", + "csv": "motion_history/gripper_sphere_joint_014.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_joint_015": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_joint_015", + "channels": { + "position": { + "unit": "rad", + "source": "grasp phase articulation position readback" + }, + "target": { + "unit": "rad", + "source": "actual sparse position command issued by test" + }, + "error": { + "unit": "rad", + "source": "command minus position" + } + }, + "metadata": { + "joint_name": "thumb_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + }, + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 404, + "json": "motion_history/gripper_sphere_joint_015.json", + "csv": "motion_history/gripper_sphere_joint_015.csv" + }, + "unit": null + }, + "motion_history_gripper_sphere_contacts": { + "value": { + "schema_version": 1, + "name": "gripper_sphere_contacts", + "channels": { + "tip_000": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_001": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_002": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + }, + "tip_003": { + "unit": "N", + "source": "existing fingertip contact-force resultant readback" + } + }, + "metadata": { + "shape": "sphere", + "trial_index": 0, + "trial_number": 1, + "tip_link_paths": [ + "/World/AssetRoot/Asset/index_link_3", + "/World/AssetRoot/Asset/middle_link_3", + "/World/AssetRoot/Asset/ring_link_3", + "/World/AssetRoot/Asset/thumb_link_3" + ], + "force_basis": "tip resultant contact force, not actuator torque or force", + "sample_stride": 4 + }, + "clock_source": "timeline", + "stop_reason": "shape_trial_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 77, + "json": "motion_history/gripper_sphere_contacts.json", + "csv": "motion_history/gripper_sphere_contacts.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "ground_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.328, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.39, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.234, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ground_stability_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.391, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "ground_stability_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "ik_target_reach_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "IK Target Reach is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "jacobian_ik_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.25, + "message": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for inverse kinematics.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "standalone_gripper", + "reason": "JIK is not applicable to standalone grippers: their articulation DOFs open and close the fingers but do not provide an arm-like Cartesian workspace for 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"parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_1", + "authored_joint_name": "thumb_joint_1", + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_1", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_0", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_0", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_029.json", + "csv": "motion_history/joint_movement_029.csv" + }, + "unit": null + }, + "motion_history_joint_movement_030": { + "value": { + "schema_version": 1, + "name": "joint_movement_030", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_2", + "authored_joint_name": "thumb_joint_2", + "prim_path": "/World/AssetRoot/Asset/thumb_link_1/thumb_joint_2", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_2", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_1", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_1", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_030.json", + "csv": "motion_history/joint_movement_030.csv" + }, + "unit": null + }, + "motion_history_joint_movement_031": { + "value": { + "schema_version": 1, + "name": "joint_movement_031", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_3", + "authored_joint_name": "thumb_joint_3", + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_3", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_2", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_2", + "phase": "batched_drive_record", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", + "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_031.json", + "csv": "motion_history/joint_movement_031.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "joint_movement_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 116.766, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 8.89, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 45, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 197.56, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.016, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "jm_joint_index_joint_0_rot_deg": { + "value": 31.51, + "unit": null + }, + "jm_joint_index_joint_0_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_index_joint_0_bbox_m": { + "value": 0.0542, + "unit": null + }, + "jm_joint_index_joint_0_translation_stage_units": { + "value": 0.0, + "unit": null + }, + "jm_joint_index_joint_0_bbox_diagonal_stage_units": { + "value": 0.05416004457587638, + "unit": null + }, + "jm_joint_index_joint_0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_joint_0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_index_joint_0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_index_joint_0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_index_joint_0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_index_joint_0_pct_of_travel": { + "value": 98.5, + "unit": null + }, + "jm_joint_index_joint_0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_middle_joint_0_rot_deg": { + "value": 31.51, + "unit": null + }, + "jm_joint_middle_joint_0_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_middle_joint_0_bbox_m": { + "value": 0.0515, + "unit": null + }, + "jm_joint_middle_joint_0_translation_stage_units": { + "value": 0.0, + "unit": null + }, + "jm_joint_middle_joint_0_bbox_diagonal_stage_units": { + "value": 0.05153539886406208, + "unit": null + }, + "jm_joint_middle_joint_0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_middle_joint_0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_middle_joint_0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + "jm_joint_middle_joint_0_bbox_diagonal_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_middle_joint_0_bbox_purposes": { + "value": [ + "default", + "render", + "proxy" + ], + "unit": null + }, + "jm_joint_middle_joint_0_pct_of_travel": { + "value": 98.5, + "unit": null + }, + "jm_joint_middle_joint_0_pct_of_travel_basis": { + "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", + "unit": null + }, + "jm_joint_ring_joint_0_rot_deg": { + "value": 31.51, + "unit": null + }, + "jm_joint_ring_joint_0_trans_pct": { + "value": 0.0, + "unit": null + }, + "jm_joint_ring_joint_0_bbox_m": { + "value": 0.0542, + "unit": null + }, + "jm_joint_ring_joint_0_translation_stage_units": { + "value": 0.0, + "unit": null + }, + "jm_joint_ring_joint_0_bbox_diagonal_stage_units": { + "value": 0.05415473395057245, + "unit": null + }, + "jm_joint_ring_joint_0_translation_unit": { + "value": "stage_length", + "unit": null + }, + "jm_joint_ring_joint_0_translation_basis": { + "value": "frozen_reference_world", + "unit": null + }, + "jm_joint_ring_joint_0_translation_evidence_basis": { + "value": "trial_with_maximum_normalized_translation", + "unit": null + }, + 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+ "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_006.json", + "csv": "motion_history/joint_movement_006.csv" + }, + "unit": null + }, + "motion_history_joint_movement_007": { + "value": { + "schema_version": 1, + "name": "joint_movement_007", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "middle_joint_1", + "authored_joint_name": "middle_joint_1", + "prim_path": "/World/AssetRoot/Asset/middle_link_0/middle_joint_1", + "child_body_path": "/World/AssetRoot/Asset/middle_link_1", + "parent_body_path": "/World/AssetRoot/Asset/middle_link_0", + "reference_frame": "/World/AssetRoot/Asset/middle_link_0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_007.json", + "csv": "motion_history/joint_movement_007.csv" + }, + "unit": null + }, + "motion_history_joint_movement_008": { + "value": { + "schema_version": 1, + "name": "joint_movement_008", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "middle_joint_2", + "authored_joint_name": "middle_joint_2", + "prim_path": "/World/AssetRoot/Asset/middle_link_1/middle_joint_2", + "child_body_path": "/World/AssetRoot/Asset/middle_link_2", + "parent_body_path": "/World/AssetRoot/Asset/middle_link_1", + "reference_frame": "/World/AssetRoot/Asset/middle_link_1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_008.json", + "csv": "motion_history/joint_movement_008.csv" + }, + "unit": null + }, + "motion_history_joint_movement_009": { + "value": { + "schema_version": 1, + "name": "joint_movement_009", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "middle_joint_3", + "authored_joint_name": "middle_joint_3", + "prim_path": "/World/AssetRoot/Asset/middle_link_2/middle_joint_3", + "child_body_path": "/World/AssetRoot/Asset/middle_link_3", + "parent_body_path": "/World/AssetRoot/Asset/middle_link_2", + "reference_frame": "/World/AssetRoot/Asset/middle_link_2", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_009.json", + "csv": "motion_history/joint_movement_009.csv" + }, + "unit": null + }, + "motion_history_joint_movement_010": { + "value": { + "schema_version": 1, + "name": "joint_movement_010", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_joint_1", + "authored_joint_name": "ring_joint_1", + "prim_path": "/World/AssetRoot/Asset/ring_link_0/ring_joint_1", + "child_body_path": "/World/AssetRoot/Asset/ring_link_1", + "parent_body_path": "/World/AssetRoot/Asset/ring_link_0", + "reference_frame": "/World/AssetRoot/Asset/ring_link_0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_010.json", + "csv": "motion_history/joint_movement_010.csv" + }, + "unit": null + }, + "motion_history_joint_movement_011": { + "value": { + "schema_version": 1, + "name": "joint_movement_011", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_joint_2", + "authored_joint_name": "ring_joint_2", + "prim_path": "/World/AssetRoot/Asset/ring_link_1/ring_joint_2", + "child_body_path": "/World/AssetRoot/Asset/ring_link_2", + "parent_body_path": "/World/AssetRoot/Asset/ring_link_1", + "reference_frame": "/World/AssetRoot/Asset/ring_link_1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_011.json", + "csv": "motion_history/joint_movement_011.csv" + }, + "unit": null + }, + "motion_history_joint_movement_012": { + "value": { + "schema_version": 1, + "name": "joint_movement_012", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "ring_joint_3", + "authored_joint_name": "ring_joint_3", + "prim_path": "/World/AssetRoot/Asset/ring_link_2/ring_joint_3", + "child_body_path": "/World/AssetRoot/Asset/ring_link_3", + "parent_body_path": "/World/AssetRoot/Asset/ring_link_2", + "reference_frame": "/World/AssetRoot/Asset/ring_link_2", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_012.json", + "csv": "motion_history/joint_movement_012.csv" + }, + "unit": null + }, + "motion_history_joint_movement_013": { + "value": { + "schema_version": 1, + "name": "joint_movement_013", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_1", + "authored_joint_name": "thumb_joint_1", + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_1", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_0", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_0", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_013.json", + "csv": "motion_history/joint_movement_013.csv" + }, + "unit": null + }, + "motion_history_joint_movement_014": { + "value": { + "schema_version": 1, + "name": "joint_movement_014", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_2", + "authored_joint_name": "thumb_joint_2", + "prim_path": "/World/AssetRoot/Asset/thumb_link_1/thumb_joint_2", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_2", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_1", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_1", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_014.json", + "csv": "motion_history/joint_movement_014.csv" + }, + "unit": null + }, + "motion_history_joint_movement_015": { + "value": { + "schema_version": 1, + "name": "joint_movement_015", + "channels": { + "rotation_delta": { + "unit": "deg", + "source": "relative body rotation change from trial reference" + }, + "translation_delta": { + "unit": "stage_length", + "source": "parent-relative displacement magnitude in frozen reference-world stage units" + }, + "translation_x": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_y": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + }, + "translation_z": { + "unit": "stage_length", + "source": "parent-relative displacement along frozen reference-world axes" + } + }, + "metadata": { + "joint_name": "thumb_joint_3", + "authored_joint_name": "thumb_joint_3", + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "child_body_path": "/World/AssetRoot/Asset/thumb_link_3", + "parent_body_path": "/World/AssetRoot/Asset/thumb_link_2", + "reference_frame": "/World/AssetRoot/Asset/thumb_link_2", + "phase": "newton_position_drive", + "physics_fps": 240, + "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", + "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", + "translation_axes": "frozen reference-world axes; common parent motion excluded", + "meters_per_unit": 1.0 + }, + "clock_source": "estimated", + "stop_reason": "observation_budget_exhausted", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 180, + "json": "motion_history/joint_movement_015.json", + "csv": "motion_history/joint_movement_015.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "light_response", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.078, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 464.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.906, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.931034, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 27, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.834816, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.03267, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "light_response", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.078, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 13.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 30, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 464.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 2.906, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "light_response_variation_ratio": { + "value": 0.931034, + "unit": null + }, + "light_response_blank_ratio": { + "value": 0.0, + "unit": null + }, + "light_response_blank_frames": { + "value": 0, + "unit": null + }, + "light_response_total_frames": { + "value": 30, + "unit": null + }, + "light_response_total_pairs": { + "value": 29, + "unit": null + }, + "light_response_different_pairs": { + "value": 27, + "unit": null + }, + "light_response_passed": { + "value": 1, + "unit": null + }, + "light_response_max_pair_change": { + "value": 0.834816, + "unit": null + }, + "light_response_min_pair_change": { + "value": 0.03267, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 22.718, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.781, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 356.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 36, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 46630, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mdl_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 22.718, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.781, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 356.2, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mdl_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mdl_surface_materials_total": { + "value": 1, + "unit": null + }, + "mdl_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mdl_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mdl_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_render_context_order": { + "value": "mdl", + "unit": null + }, + "mdl_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mdl_surface_deinstanced_prims": { + "value": 36, + "unit": null + }, + "mdl_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mdl_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mdl_surface_silhouette_pixels": { + "value": 46630, + "unit": null + }, + "mdl_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mdl_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "mimic_joint", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 1.703, + "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "no_active_mimic_followers", + "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "mimic_joint_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 20.016, + "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", + "metrics": { + "mim_mimic_pairs_detected": { + "value": 0, + "unit": null + }, + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "no_active_mimic_followers", + "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." + }, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "multi_joint_coordination", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 35.406, + "message": "", + "metrics": { + "mjc_joints_without_safe_range": { + "value": [], + "unit": null + }, + "mjc_total_joints": { + "value": 16, + "unit": null + }, + "mjc_valid_joints": { + "value": 16, + "unit": null + }, + "mjc_loop_joints_skipped": { + "value": 0, + "unit": null + }, + "mjc_velocity_hint_fallback_joints": { + "value": 0, + "unit": null + }, + "mjc_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.225966840919677, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "mjc_timing_iterations": { + "value": [ + { + "ramp_frames": 480, + "hold_frames": 1440, + "total_frames": 1920, + "ramp_seconds": 2.0, + "hold_seconds": 6.0, + "observation_seconds": 8.0, + "joints": [ + { + "name": "index_joint_0", + "index": 0, + "displacement": 0.17871644969602557, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.13403733727201916, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0005577132262649409 + }, + { + "name": "middle_joint_0", + "index": 1, + "displacement": 0.1787164501360542, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.13403733760204065, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0005577132276381204 + }, + { + "name": "ring_joint_0", + "index": 2, + "displacement": 0.1787164501320335, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.1340373375990251, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0005577132276255733 + }, + { + "name": "thumb_joint_0", + "index": 3, + "displacement": 0.5340548979311364, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.4005411734483523, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0016666036094291972 + }, + { + "name": "index_joint_1", + "index": 4, + "displacement": 0.4031589802375726, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30236923517817943, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581219912795776 + }, + { + "name": "middle_joint_1", + "index": 5, + "displacement": 0.4031607967738273, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.3023705975803705, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581276600711017 + }, + { + "name": "ring_joint_1", + "index": 6, + "displacement": 0.40316071462565106, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.3023705359692383, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581274037145969 + }, + { + "name": "thumb_joint_1", + "index": 7, + "displacement": 0.17278248854497208, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.12958686640872907, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0005391953527076168 + }, + { + "name": "index_joint_2", + "index": 8, + "displacement": 0.4031590375569343, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.3023692781677007, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581221701538007 + }, + { + "name": "middle_joint_2", + "index": 9, + "displacement": 0.4031590519185946, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30236928893894593, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581222149716557 + }, + { + "name": "ring_joint_2", + "index": 10, + "displacement": 0.4031590522046946, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30236928915352096, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581222158644767 + }, + { + "name": "thumb_joint_2", + "index": 11, + "displacement": 0.4036146122578066, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30271095919335494, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012595438637732787 + }, + { + "name": "index_joint_3", + "index": 12, + "displacement": 0.40315913556696603, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.3023693516752245, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581224760097594 + }, + { + "name": "middle_joint_3", + "index": 13, + "displacement": 0.40315913564210865, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30236935173158147, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581224762442539 + }, + { + "name": "ring_joint_3", + "index": 14, + "displacement": 0.4031591356409435, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.30236935173070767, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012581224762406179 + }, + { + "name": "thumb_joint_3", + "index": 15, + "displacement": 0.4151715496974066, + "velocity_hint": 6.282999951167717, + "velocity_hint_source": "USD physxJoint:maxJointVelocity", + "estimated_command_peak_speed": 0.31137866227305494, + "initial_command_clipped": false, + "estimated_initial_command_step_speed": 0.0012956091329532752 + } + ], + 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"/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "coordination_iterations_completed", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 317, + "json": "motion_history/mjc_joint_015.json", + "csv": "motion_history/mjc_joint_015.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.423, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 927.87, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.61, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.006993, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.023106, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "normals_xz", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 23.312, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.423, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 8, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 927.87, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.61, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "normals_xz_qualified_frames": { + "value": 8, + "unit": null + }, + "normals_xz_omitted_frames": { + "value": 0, + "unit": null + }, + "normals_xz_omitted_indices": { + "value": [], + "unit": null + }, + "normals_xz_avg_dark": { + "value": 0.006993, + "unit": null + }, + "normals_xz_max_dark": { + "value": 0.023106, + "unit": null + }, + "normals_xz_problem_frames": { + "value": 0, + "unit": null + }, + "normals_xz_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.468, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 693.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 1, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 36, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "mtlx_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "mtlx_surface_silhouette_pixels": { + "value": 46618, + "unit": null + }, + "mtlx_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "mtlx_surface_coverage": { + "value": 1.0, + "unit": null + }, + "mtlx_surface_materialx_validation": { + "value": "off", + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "openpbr_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 27.672, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 3.468, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 693.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "mtlx_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "mtlx_surface_materials_total": { + "value": 1, + "unit": null + }, + "mtlx_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "mtlx_surface_test_spheres": { + "value": 0, + "unit": null + }, + "mtlx_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_render_context_order": { + "value": "mtlx", + "unit": null + }, + "mtlx_surface_contexts_declared": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "mtlx_surface_deinstanced_prims": { + "value": 36, + "unit": null + }, + "mtlx_surface_instances_remaining": { + "value": 0, + "unit": null + }, + 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"_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -51.9, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "pivot", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.797, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 7.158, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 20, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 357.9, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 3.359, + "unit": null + }, + "_timing_encode_video_count": { + "value": 2, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "pivot_score": { + "value": 0.8, + "unit": null + }, + "pivot_pivot_height_pct": { + "value": -51.9, + "unit": null + }, + "pivot_pivot_at_base": { + "value": 1, + "unit": null + }, + "pivot_pivot_centered_xy": { + "value": 0, + "unit": null + }, + "pivot_ground_penetration": { + "value": 0, + "unit": null + }, + "pivot_orbital_motion": { + "value": 1, + "unit": null + }, + "pivot_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "presence", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 6.703, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 1.453, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 2, + "unit": null + }, + 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"_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "presence_diff_ratio": { + "value": 0.205022, + "unit": null + }, + "presence_passed": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 587.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + 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"universal_surface_silhouette_pixels": { + "value": 46177, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "preview_surface_renders", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 25.344, + "message": "", + "metrics": { + "_timing_capture_frame_total_s": { + "value": 2.938, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 5, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 587.6, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 0.0, + "unit": null + }, + "_timing_encode_video_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "universal_surface_materials_with_universal": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mdl": { + "value": 1, + "unit": null + }, + "universal_surface_materials_with_mtlx": { + "value": 1, + "unit": null + }, + "universal_surface_materials_total": { + "value": 1, + "unit": null + }, + "universal_surface_asset_root": { + "value": "/World/_SimReadySurfaceAsset/Asset", + "unit": null + }, + "universal_surface_test_spheres": { + "value": 0, + "unit": null + }, + "universal_surface_contexts_present": { + "value": "mdl, mtlx, universal", + "unit": null + }, + "universal_surface_render_context_order": { + "value": "universal", + "unit": null + }, + "universal_surface_deinstanced_prims": { + "value": 36, + "unit": null + }, + "universal_surface_instances_remaining": { + "value": 0, + "unit": null + }, + "universal_surface_stronger_bindings": { + "value": 0, + "unit": null + }, + "universal_surface_silhouette_pixels": { + "value": 46177, + "unit": null + }, + "universal_surface_uncovered_pixels": { + "value": 0, + "unit": null + }, + "universal_surface_coverage": { + "value": 1.0, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop", + "engine": "isaac_sim", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.281, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." + }, + "unit": null + }, + "slope_drop_skipped": { + "value": 1, + "unit": null + } + }, + "kit_logs": [] + }, + { + "test_name": "slope_drop_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "skipped", + "passed": false, + "duration": 0.453, + "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", + "metrics": { + "assessment_applicability": { + "value": { + "status": "not_applicable", + "reason_code": "world_anchored", + "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. 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"limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_007.json", + "csv": "motion_history/vel_joint_007.csv" + }, + "unit": null + }, + "motion_history_vel_joint_008": { + "value": { + "schema_version": 1, + "name": "vel_joint_008", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_008.json", + "csv": "motion_history/vel_joint_008.csv" + }, + "unit": null + }, + "motion_history_vel_joint_009": { + "value": { + "schema_version": 1, + "name": "vel_joint_009", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_1/index_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_009.json", + "csv": "motion_history/vel_joint_009.csv" + }, + "unit": null + }, + "motion_history_vel_joint_010": { + "value": { + "schema_version": 1, + "name": "vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_1/middle_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_1/ring_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + }, + "motion_history_vel_joint_012": { + "value": { + "schema_version": 1, + "name": "vel_joint_012", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_1/thumb_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_012.json", + "csv": "motion_history/vel_joint_012.csv" + }, + "unit": null + }, + "motion_history_vel_joint_013": { + "value": { + "schema_version": 1, + "name": "vel_joint_013", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_2/index_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_013.json", + "csv": "motion_history/vel_joint_013.csv" + }, + "unit": null + }, + "motion_history_vel_joint_014": { + "value": { + "schema_version": 1, + "name": "vel_joint_014", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_2/middle_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_014.json", + "csv": "motion_history/vel_joint_014.csv" + }, + "unit": null + }, + "motion_history_vel_joint_015": { + "value": { + "schema_version": 1, + "name": "vel_joint_015", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_2/ring_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_015.json", + "csv": "motion_history/vel_joint_015.csv" + }, + "unit": null + }, + "motion_history_vel_joint_016": { + "value": { + "schema_version": 1, + "name": "vel_joint_016", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof_or_usd_min", + "tolerance_percent": 0.05, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 5.0, + "damping": 0.20000000298023224, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 9, + "json": "motion_history/vel_joint_016.json", + "csv": "motion_history/vel_joint_016.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + }, + { + "test_name": "velocity_limit_newton", + "engine": "isaac_sim_newton", + "engine_version": "6.1.0", + "status": "pass", + "passed": true, + "duration": 29.156, + "message": "", + "metrics": { + "vel_joints_with_limits": { + "value": 16, + "unit": null + }, + "vel_joints_not_evaluated": { + "value": 0, + "unit": null + }, + "vel_velocity_limit_application": { + "value": "reported_success", + "unit": null + }, + "vel_velocity_limit_enforcement": { + "value": "not_verified", + "unit": null + }, + "vel_guard_reference": { + "value": { + "kinematic_span_stage_units": 1.225966840919677, + "qualified": true, + "basis": "kinematic_span", + "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" + }, + "unit": null + }, + "_timing_capture_frame_total_s": { + "value": 4.456, + "unit": null + }, + "_timing_capture_frame_count": { + "value": 32, + "unit": null + }, + "_timing_capture_frame_avg_ms": { + "value": 139.25, + "unit": null + }, + "_timing_encode_video_total_s": { + "value": 1.5, + "unit": null + }, + "_timing_encode_video_count": { + "value": 1, + "unit": null + }, + "_render_blank_retry_count": { + "value": 0, + "unit": null + }, + "_render_blank_retry_unrecovered": { + "value": 0, + "unit": null + }, + "vel_joints_passed": { + "value": 16, + "unit": null + }, + "vel_joints_failed": { + "value": 0, + "unit": null + }, + "motion_history_vel_joint_001": { + "value": { + "schema_version": 1, + "name": "vel_joint_001", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/index_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 41, + "json": "motion_history/vel_joint_001.json", + "csv": "motion_history/vel_joint_001.csv" + }, + "unit": null + }, + "motion_history_vel_joint_002": { + "value": { + "schema_version": 1, + "name": "vel_joint_002", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_0/index_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "json": "motion_history/vel_joint_002.json", + "csv": "motion_history/vel_joint_002.csv" + }, + "unit": null + }, + "motion_history_vel_joint_003": { + "value": { + "schema_version": 1, + "name": "vel_joint_003", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_1/index_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_003.json", + "csv": "motion_history/vel_joint_003.csv" + }, + "unit": null + }, + "motion_history_vel_joint_004": { + "value": { + "schema_version": 1, + "name": "vel_joint_004", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "index_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/index_link_2/index_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_004.json", + "csv": "motion_history/vel_joint_004.csv" + }, + "unit": null + }, + "motion_history_vel_joint_005": { + "value": { + "schema_version": 1, + "name": "vel_joint_005", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/middle_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 41, + "json": "motion_history/vel_joint_005.json", + "csv": "motion_history/vel_joint_005.csv" + }, + "unit": null + }, + "motion_history_vel_joint_006": { + "value": { + "schema_version": 1, + "name": "vel_joint_006", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_0/middle_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "json": "motion_history/vel_joint_006.json", + "csv": "motion_history/vel_joint_006.csv" + }, + "unit": null + }, + "motion_history_vel_joint_007": { + "value": { + "schema_version": 1, + "name": "vel_joint_007", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_1/middle_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_007.json", + "csv": "motion_history/vel_joint_007.csv" + }, + "unit": null + }, + "motion_history_vel_joint_008": { + "value": { + "schema_version": 1, + "name": "vel_joint_008", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "middle_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/middle_link_2/middle_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_008.json", + "csv": "motion_history/vel_joint_008.csv" + }, + "unit": null + }, + "motion_history_vel_joint_009": { + "value": { + "schema_version": 1, + "name": "vel_joint_009", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/ring_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 41, + "json": "motion_history/vel_joint_009.json", + "csv": "motion_history/vel_joint_009.csv" + }, + "unit": null + }, + "motion_history_vel_joint_010": { + "value": { + "schema_version": 1, + "name": "vel_joint_010", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_0/ring_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "json": "motion_history/vel_joint_010.json", + "csv": "motion_history/vel_joint_010.csv" + }, + "unit": null + }, + "motion_history_vel_joint_011": { + "value": { + "schema_version": 1, + "name": "vel_joint_011", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_1/ring_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_011.json", + "csv": "motion_history/vel_joint_011.csv" + }, + "unit": null + }, + "motion_history_vel_joint_012": { + "value": { + "schema_version": 1, + "name": "vel_joint_012", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "ring_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/ring_link_2/ring_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 55, + "json": "motion_history/vel_joint_012.json", + "csv": "motion_history/vel_joint_012.csv" + }, + "unit": null + }, + "motion_history_vel_joint_013": { + "value": { + "schema_version": 1, + "name": "vel_joint_013", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_0", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/palm_link/thumb_joint_0", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 54, + "json": "motion_history/vel_joint_013.json", + "csv": "motion_history/vel_joint_013.csv" + }, + "unit": null + }, + "motion_history_vel_joint_014": { + "value": { + "schema_version": 1, + "name": "vel_joint_014", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_1", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_0/thumb_joint_1", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 49, + "json": "motion_history/vel_joint_014.json", + "csv": "motion_history/vel_joint_014.csv" + }, + "unit": null + }, + "motion_history_vel_joint_015": { + "value": { + "schema_version": 1, + "name": "vel_joint_015", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_2", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_1/thumb_joint_2", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "json": "motion_history/vel_joint_015.json", + "csv": "motion_history/vel_joint_015.csv" + }, + "unit": null + }, + "motion_history_vel_joint_016": { + "value": { + "schema_version": 1, + "name": "vel_joint_016", + "channels": { + "velocity": { + "unit": "rad/s", + "source": "RobotHandle articulation velocity readback" + }, + "position_target": { + "unit": "rad", + "source": "position command issued by test" + }, + "speed_limit": { + "unit": "rad/s", + "source": "resolved comparison ceiling; see limit_source/provenance" + }, + "allowed_speed": { + "unit": "rad/s", + "source": "speed limit with configured verdict allowance" + } + }, + "metadata": { + "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", + "physics_fps": 240.0, + "limit_source": "dof", + "tolerance_percent": 0.05, + "velocity_limit_provenance": { + "qualified_newton_version": "1.2.1", + "qualified_newton_usd_schemas_version": "0.2.0", + "runtime_newton_version": "1.5.0", + "runtime_newton_usd_schemas_version": null, + "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", + "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", + "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", + "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" + }, + "vel_velocity_limit_application": "reported_success", + "vel_velocity_limit_enforcement": "not_verified", + "joint_name": "thumb_joint_3", + "unit": "rad", + "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", + "identity_resolved": true, + "prim_path": "/World/AssetRoot/Asset/thumb_link_2/thumb_joint_3", + "meters_per_unit": 1.0, + "authored_drive": { + "stiffness": 1.0416899919509888, + "damping": 0.0, + "max_force": 10.0 + } + }, + "clock_source": "estimated", + "stop_reason": "velocity_stop_condition", + "partial": false, + "dropped_samples": 0, + "limitations": [], + "dropped_captures": 0, + "sample_count": 56, + "json": "motion_history/vel_joint_016.json", + "csv": "motion_history/vel_joint_016.csv" + }, + "unit": null + } + }, + "kit_logs": [ + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: Traceback (most recent call last):" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: ^^^^^^^^^^^^^^^^" + }, + { + "level": "error", + "channel": "omni.kit.app._impl", + "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" + } + ] + } + ] +} diff --git a/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_validation.json b/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..617d914ff431d9d381408b71ff5a5a3c6492aa4a --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.metadata/wonikrobotics_allegrohand_allegro_validation.json @@ -0,0 +1,241 @@ +{ + "simready_usd/allegro.usda": { + "features_summary": { + "CAP000_Core.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP000_Core.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP003_RigidBody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP004_Multibody.RobotMuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP021_RobotCore.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "CAP022_DrivenJoints.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP024_BaseArticulation.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP028_Gripper.MuJoCo.0-1-0": { + "blocking_failure": false, + "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "CAP033_SimReadyPackage.OpenUSD.0-4-0": { + "blocking_failure": false, + "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", + "passed": true, + "version": "0-4-0" + }, + "CAP100_IsaacComposition.Isaac.0-3-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-3-0" + }, + "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "1-0-1" + }, + "FET003_RigidBody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET003_RigidBody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET003_RigidBody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.Newton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET004_Multibody.PhysX.0-4-0": { + "blocking_failure": false, + "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", + "passed": true, + "version": "0-4-0" + }, + "FET004_Multibody.RobotNewton.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET004_Multibody.RobotPhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET006_Materials.MDL.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-2-0" + }, + "FET006_Materials.Openpbr.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET010_DisplayColor.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.Isaac.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.Newton.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.OpenUSD.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", + "passed": true, + "version": "0-2-0" + }, + "FET022_DrivenJoints.PhysX.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET022_DrivenJoints.PhysX.0-2-0": { + "blocking_failure": false, + "dependencies": "['FET004_Multibody.PhysX.0-4-0']", + "passed": true, + "version": "0-2-0" + }, + "FET028_Gripper.Isaac.0-1-0": { + "blocking_failure": false, + "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']", + "passed": true, + "version": "0-1-0" + }, + "FET028_Gripper.OpenUSD.0-1-0": { + "blocking_failure": false, + "dependencies": "[]", + "passed": true, + "version": "0-1-0" + } + }, + "profile_id": "Robot-Gripper", + "profile_version": "3.0.0", + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } + } +} diff --git a/wonikrobotics_allegrohand_allegro/.thumbs/256x256/allegro.usda.png b/wonikrobotics_allegrohand_allegro/.thumbs/256x256/allegro.usda.png new file mode 100644 index 0000000000000000000000000000000000000000..9e77458d5c0cc9aa196341da4c90ae49658412af --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/.thumbs/256x256/allegro.usda.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:842df9323e36c9d6fc2ce7e061fcec36b484ee6e8fb12ded4d4edb28b137e51d +size 39212 diff --git a/wonikrobotics_allegrohand_allegro/allegro.usda b/wonikrobotics_allegrohand_allegro/allegro.usda new file mode 100644 index 0000000000000000000000000000000000000000..07c017b2e63ef72b887741364addfbcf04d5a74d --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/allegro.usda @@ -0,0 +1,1692 @@ +#usda 1.0 +( + customLayerData = { + dictionary SimReady_Metadata = { + dictionary Variants = { + dictionary Physics = { + dictionary MuJoCo = { + string activateOption = "Enabled" + string prim = "/kuka_allegro" + string variantSetName = "MuJoCo" + } + dictionary Newton = { + string activateOption = "Enabled" + string prim = "/kuka_allegro" + string variantSetName = "Newton" + } + dictionary PhysX = { + string activateOption = "Enabled" + string prim = "/kuka_allegro" + string variantSetName = "PhysX" + } + } + } + dictionary runtime_testing = { + dictionary tested_features = { + dictionary "2026-10-31T20:07:08.573916+00:00" = { + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" + string display_name = "Minimal Placeable Visual" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary culling_xz = { + string name = "culling_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" + string version = "2.0.2" + } + dictionary light_response = { + string name = "light_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" + string version = "2.0.3" + } + dictionary normals_xz = { + string name = "normals_xz" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" + string version = "2.0.3" + } + dictionary pivot = { + string name = "pivot" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" + string version = "2.0.3" + } + dictionary presence = { + string name = "presence" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" + string version = "2.0.1" + } + } + } + } + string family = "FET001" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "1.0.1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + string contract_id = "FET003_RigidBody.Newton.0-1-0" + string display_name = "Rigid Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop_newton = { + string name = "ground_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability_newton = { + string name = "ground_stability_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop_newton = { + string name = "slope_drop_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "skipped" + string version = "0.1.0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" + string display_name = "Rigid Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "skipped" + string version = "0.2.0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + string contract_id = "FET003_RigidBody.PhysX.0-4-0" + string display_name = "Rigid Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 0 + string status = "skipped" + dictionary tests = { + dictionary ground_drop = { + string name = "ground_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" + string version = "4.0.1" + } + dictionary ground_stability = { + string name = "ground_stability" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" + string version = "3.0.1" + } + dictionary slope_drop = { + string name = "slope_drop" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" + string version = "3.3.5" + } + } + } + } + string family = "FET003" + int foundations_contract = 2 + bool passed = 0 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "skipped" + string version = "0.4.0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + string contract_id = "FET004_Multibody.Newton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + string contract_id = "FET004_Multibody.OpenUSD.0-2-0" + string display_name = "Simulate Multi-Body Physics" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + string contract_id = "FET004_Multibody.PhysX.0-4-0" + string display_name = "Simulate Multi-Body Physics (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.4.0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + string contract_id = "FET004_Multibody.RobotNewton.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement_newton = { + string name = "joint_movement_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.5" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotNewton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + string contract_id = "FET004_Multibody.RobotPhysX.0-1-0" + string display_name = "Simulate Multi-Body Physics (Robot PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary joint_movement = { + string name = "joint_movement" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" + string version = "2.2.4" + } + } + } + } + string family = "FET004" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "RobotPhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + string contract_id = "FET006_Materials.MDL.0-2-0" + string display_name = "Materials (MDL)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary mdl_renders = { + string name = "mdl_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" + string version = "0.4.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "MDL" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + string contract_id = "FET006_Materials.OpenUSD.0-2-0" + string display_name = "Materials (USDPreviewSurface)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary preview_surface_renders = { + string name = "preview_surface_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + string contract_id = "FET006_Materials.Openpbr.0-1-0" + string display_name = "Materials (OpenPBR)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary openpbr_renders = { + string name = "openpbr_renders" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" + string version = "0.5.0" + } + } + } + } + string family = "FET006" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Openpbr" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" + string display_name = "Display Color" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary display_color_response = { + string name = "display_color_response" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" + string version = "0.4.5" + } + } + } + } + string family = "FET010" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "OpenUSD" + bool source = 1 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-1-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" + string display_name = "Driven Joints (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + string contract_id = "FET022_DrivenJoints.Newton.0-1-0" + string display_name = "Driven Joints (Newton)" + dictionary engines = { + dictionary isaac_sim_newton = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation_newton = { + string name = "drive_gain_validation_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.10" + } + dictionary effort_limit_newton = { + string name = "effort_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.1.10" + } + dictionary full_range_sweep_newton = { + string name = "full_range_sweep_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.7" + } + dictionary ik_target_reach_newton = { + string name = "ik_target_reach_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.9" + } + dictionary jacobian_ik_newton = { + string name = "jacobian_ik_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint_newton = { + string name = "mimic_joint_newton" + bool passed = 0 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.12" + } + dictionary multi_joint_coordination_newton = { + string name = "multi_joint_coordination_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy_newton = { + string name = "state_accuracy_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.10" + } + dictionary velocity_limit_newton = { + string name = "velocity_limit_newton" + bool passed = 1 + string provider = "simready.foundation.tier_newton.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.12" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Newton" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-1-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" + string display_name = "Driven Joints (PhysX)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary drive_gain_validation = { + string name = "drive_gain_validation" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" + string version = "1.1.9" + } + dictionary effort_limit = { + string name = "effort_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" + string version = "1.2.0" + } + dictionary full_range_sweep = { + string name = "full_range_sweep" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" + string version = "1.5.6" + } + dictionary ik_target_reach = { + string name = "ik_target_reach" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" + string version = "1.2.8" + } + dictionary jacobian_ik = { + string name = "jacobian_ik" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" + string version = "1.4.12" + } + dictionary mimic_joint = { + string name = "mimic_joint" + bool passed = 0 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "skipped" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" + string version = "1.1.11" + } + dictionary multi_joint_coordination = { + string name = "multi_joint_coordination" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" + string version = "1.2.6" + } + dictionary state_accuracy = { + string name = "state_accuracy" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" + string version = "1.2.9" + } + dictionary velocity_limit = { + string name = "velocity_limit" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" + string version = "1.1.11" + } + } + } + } + string family = "FET022" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "PhysX" + bool source = 0 + string status = "pass" + string version = "0.2.0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + string contract_id = "FET028_Gripper.Isaac.0-1-0" + string display_name = "Gripper (Isaac)" + dictionary engines = { + dictionary isaac_sim = { + bool passed = 1 + string status = "pass" + dictionary tests = { + dictionary gripper_close_lift_cube = { + string name = "gripper_close_lift_cube" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_cube.py" + string version = "1.4.9" + } + dictionary gripper_close_lift_sphere = { + string name = "gripper_close_lift_sphere" + bool passed = 1 + string provider = "simready.foundation.tier_core.runtime_tests" + string status = "pass" + string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet028_gripper/gripper_close_lift_sphere.py" + string version = "1.4.9" + } + } + } + } + string family = "FET028" + int foundations_contract = 2 + bool passed = 1 + dictionary profile = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + dictionary profiles = { + dictionary profile_0 = { + string id = "Robot-Gripper" + string version = "3.0.0" + } + } + string runtime = "Isaac" + bool source = 0 + string status = "pass" + string version = "0.1.0" + } + } + } + } + dictionary validation = { + string profile = "Robot-Gripper" + string profile_version = "3.0.0" + dictionary validated_features = { + dictionary "2026-10-31" = { + dictionary "CAP000_Core.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP000_Core.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP021_RobotCore.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP028_Gripper.MuJoCo.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP022_DrivenJoints.MuJoCo.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-3-0" + } + dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "1-0-1" + } + dictionary "FET003_RigidBody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET003_RigidBody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.Newton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET004_Multibody.PhysX.0-4-0" = { + bool blocking_failure = 0 + string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-4-0" + } + dictionary "FET004_Multibody.RobotNewton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET004_Multibody.RobotPhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET006_Materials.MDL.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET006_Materials.Openpbr.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.Newton.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.RobotPhysX.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { + bool blocking_failure = 0 + string dependencies = "['FET004_Multibody.PhysX.0-4-0']" + bool passed = 1 + string version = "0-2-0" + } + dictionary "FET028_Gripper.Isaac.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']" + bool passed = 1 + string version = "0-1-0" + } + dictionary "FET028_Gripper.OpenUSD.0-1-0" = { + bool blocking_failure = 0 + string dependencies = "[]" + bool passed = 1 + string version = "0-1-0" + } + } + } + } + } + float3 asset_extents = (0.22298166, 0.24631077, 0.288771) + string asset_license = "BSD-2-Clause" + string asset_name = "allegro" + string asset_type = "robot" + string author = "WonikRobotics" + string category = "robot end effector" + double mass = 2.1354000214487314 + string qcode = "Q1340324" + int rigid_body_count = 21 + string source_file = "WonikRobotics/AllegroHand/allegro/allegro.usda" + string usd_date_generated = "2026-10-02" + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "kuka_allegro" ( + kind = "component" + prepend references = [ + @./payloads/Physics/physics.usda@, + @./payloads/base.usda@ + ] + variants = { + string MuJoCo = "Disabled" + string Newton = "Disabled" + string PhysX = "Disabled" + } + prepend variantSets = ["PhysX", "Newton", "MuJoCo"] +) +{ + color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( + interpolation = "constant" + ) + + over "allegro_mount" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "palm_link" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "index_link_0" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "index_link_1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "index_link_2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "index_link_3" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "middle_link_0" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "middle_link_1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "middle_link_2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "middle_link_3" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "ring_link_0" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "ring_link_1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "ring_link_2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "ring_link_3" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "thumb_link_0" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "thumb_link_1" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "thumb_link_2" + { + over "collisions" + { + token visibility = "invisible" + } + } + + over "thumb_link_3" + { + over "collisions" + { + token visibility = "invisible" + } + } + variantSet "PhysX" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/physx.usda@ + ) { + + } + } + variantSet "Newton" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/newton.usda@ + ) { + + } + } + variantSet "MuJoCo" = { + "Disabled" { + + } + "Enabled" ( + prepend payload = @./runnables/physics/mujoco.usda@ + ) { + + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/com.nvidia.simready.packaging.json b/wonikrobotics_allegrohand_allegro/com.nvidia.simready.packaging.json new file mode 100644 index 0000000000000000000000000000000000000000..a4d21a4441adb18df0ff22b0f67387a24b296f52 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/com.nvidia.simready.packaging.json @@ -0,0 +1,49 @@ +{ + "format_version": "1.0", + "package_id": "simready.hf.nvidia.isaacsim-assets.wonikrobotics_allegrohand_allegro.1.0.0", + "license": "BSD-2-Clause", + "metadata": [ + { + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "hash": { + "sha256": "51deffd895f69f2bf679e58af38325ef5dd7580a36f108dd1e7f790b8fc1273f" + } + }, + { + "name": "com.nvidia.simready.packaging.bom.json", + "hash": { + "sha256": "93013101c9fea5bbe5cb50602b662517527053df42a6ff4cf67834a27e24def6" + } + }, + { + "name": "com.nvidia.simready.root_usds.json", + "hash": { + "sha256": "c08f2361bef0497430f3b9eb79fc6dbef8861b4e6616d0bcbea88ffa96d7547c" + } + }, + { + "name": "license.txt", + "hash": { + "sha256": "09c187439ecece8b00330e71eb988d3d30f29373c580dc31ab54200d0aa4deb4" + } + }, + { + "name": "wonikrobotics_allegrohand_allegro_benchmark.json", + "hash": { + "sha256": "4e519ec24fbb768111bf83761793a7e2c7f3b193e1e1307f278f6d22ab9008d4" + } + }, + { + "name": "wonikrobotics_allegrohand_allegro_validation.json", + "hash": { + "sha256": "ff3573317160321cfd8e036deae6ee1d4858cd07f30773c119de1903de5ff87e" + } + } + ], + "content_hash": { + "sha256": "f628bd151bc42dc47bbb253354a7ad8949db2499e2b4f1821d8aa9036d3c34a4" + }, + "package_hash": { + "sha256": "785ab640515dc967751cdb5db65b1a4f69f281dfd72af343c992b088883b31bb" + } +} diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bcd0685466a09006ac9e009969d32de43d6d04d9 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR.mdl @@ -0,0 +1,396 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBR_ClearCoat::*; + + +// OmniPBR // + +export material OmniPBR( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity") + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls the repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls the repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 2), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] = let { + +material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( + diffuse_color_constant: diffuse_color_constant, + diffuse_texture: diffuse_texture, + albedo_desaturation: albedo_desaturation, + albedo_add: albedo_add, + albedo_brightness: albedo_brightness, + diffuse_tint: diffuse_tint, + reflection_roughness_constant: reflection_roughness_constant, + reflection_roughness_texture_influence: reflection_roughness_texture_influence, + reflectionroughness_texture: reflectionroughness_texture, + metallic_constant: metallic_constant, + metallic_texture_influence: metallic_texture_influence, + metallic_texture: metallic_texture, + specular_level: specular_level, + enable_ORM_texture: enable_ORM_texture, + ORM_texture: ORM_texture, + ao_to_diffuse: ao_to_diffuse, + ao_texture: ao_texture, + enable_emission: enable_emission, + emissive_color: emissive_color, + emissive_color_texture: emissive_color_texture, + emissive_mask_texture: emissive_mask_texture, + emissive_intensity: emissive_intensity, + enable_opacity: enable_opacity, + opacity_texture: opacity_texture, + opacity_constant: opacity_constant, + enable_opacity_texture: enable_opacity_texture, + opacity_mode: opacity_mode, + opacity_threshold: opacity_threshold, + geometry_normal_roughness_strength: geometry_normal_roughness_strength, + bump_factor: bump_factor, + normalmap_texture: normalmap_texture, + detail_bump_factor: detail_bump_factor, + detail_normalmap_texture: detail_normalmap_texture, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v, + project_uvw: project_uvw, + world_or_object: world_or_object, + uv_space_index: uv_space_index, + texture_translate: texture_translate, + texture_rotate: texture_rotate, + texture_scale: texture_scale, + detail_texture_translate: detail_texture_translate, + detail_texture_rotate: detail_texture_rotate, + detail_texture_scale: detail_texture_scale, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials +); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBRBase.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBRBase.mdl new file mode 100644 index 0000000000000000000000000000000000000000..417cec0a705f3ed09ceded3f85f5b919acf8dd20 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBRBase.mdl @@ -0,0 +1,470 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +import ::anno::*; + +export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ + anno::hidden() +]] +{ + Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; + float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); + return math::normalize(N); +} + +export struct NormalData [[ + anno::hidden() +]] +{ + float3 normal; + float2 roughness; +}; + +export NormalData tangent_space_normal_roughness_texture( + uniform texture_2d texture + [[ + anno::description("The input texture"), + anno::usage("normal") + ]], + uniform float factor = 1.0f + [[ anno::description("Determines the degree of bumpiness") ]], + uniform bool flip_tangent_u = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + uniform bool flip_tangent_v = false + [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], + base::texture_coordinate_info uvw = base::texture_coordinate_info() + [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], + uniform float2 crop_u = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], + uniform float2 crop_v = float2( 0.0, 1.0) + [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], + uniform tex::wrap_mode wrap_u = tex::wrap_repeat + [[ anno::description("Wrapping mode in the u direction") ]], + uniform tex::wrap_mode wrap_v = tex::wrap_repeat + [[ anno::description("Wrapping mode in the v direction") ]], + uniform bool clip = false + [[ + anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), + anno::hidden() + ]], + uniform float scale = 1. + [[ + anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float offset = 0. + [[ + anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), + anno::unused() + ]], + uniform float animation_start_time = 0. + [[ anno::description("When to start playing first frame of the animation ") ]], + uniform int2 animation_crop = int2(0, 0) + [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], + uniform tex::wrap_mode animation_wrap = tex::wrap_repeat + [[ anno::description("Defines what to do outside of regular animation time") ]], + uniform float animation_fps = 30 + [[ anno::description("Framerate to use for animation playback") ]] +) +[[ + anno::description("Interprets the color values of a bitmap as a vector in tangent space"), + anno::hidden(), + anno::noinline() +]] +{ + NormalData normalData; + normalData.roughness = float2(0); + normalData.normal = state::normal(); + + float frame = 0.0; + if(animation_crop != int2(0,0)) //only if we have an animation + { + frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation + switch ( animation_wrap) { + case tex::wrap_repeat: + frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: + math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; + break; + case tex::wrap_mirrored_repeat: + float animation_crop_2y = 2.0*animation_crop.y; + frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: + math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; + if(frame>animation_crop.y) + frame = animation_crop_2y-frame; + break; + case tex::wrap_clamp: + frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); + break; + case tex::wrap_clip: + frame += animation_crop.x; + if(frame < animation_crop.x || frame > animation_crop.y) return normalData; + break; + } + } + + if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource + factor == 0.0f) + return normalData; + { + if (clip) { + if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { + return normalData; + } + if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { + return normalData; + } + } + bool pixel_flip_u = flip_tangent_u; + bool pixel_flip_v = flip_tangent_v; + //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile + if (wrap_u == tex::wrap_mirrored_repeat) { + if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) + pixel_flip_u = ! pixel_flip_u; + else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) + pixel_flip_u = ! pixel_flip_u; + } + if (wrap_v == tex::wrap_mirrored_repeat) { + if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) + pixel_flip_v = ! pixel_flip_v; + else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) + pixel_flip_v = ! pixel_flip_v; + } + + float3 transformed_tangent_u = uvw.tangent_u; + float3 transformed_tangent_v = uvw.tangent_v; + + if (pixel_flip_u) + transformed_tangent_u=-transformed_tangent_u; + if (pixel_flip_v) + transformed_tangent_v=-transformed_tangent_v; + + float3 tangent_space_normal; + float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); + if(normal_raw.x > 1.5) + { + // octahedron packed by OV + normal_raw.x -= 2.0; + normal_raw.x -= 0.5; + normal_raw.y -= 0.5; + tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); + normalData.roughness = float2(normal_raw.z, normal_raw.w); + } + else + { + // regular + tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; + normalData.roughness = float2(0); + } + + normalData.normal = math::normalize( + transformed_tangent_u * tangent_space_normal.x * factor + + transformed_tangent_v * tangent_space_normal.y * factor + + state::normal() * tangent_space_normal.z); + + return normalData; +} + + +export material OmniPBRBase( + + + // Albdeo // + + color diffuse_reflection_color = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Albedo Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflecitivity // + + float specular_reflection_roughness = float(0.0) [[ + anno::display_name("Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hidden() + ]], + float metalness = float(0.0) [[ + anno::display_name("Metalness"), + anno::description("Bias towards pure specular reflection"), + anno::in_group("Reflectivity"), + anno::hard_range(0.0, 1.0) + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(0.0, 1.0) + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emission_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + float emission_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::soft_range(0.0, 1000.0), + anno::enable_if("enable_emission == true") + ]], + + + // Geometry Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + float geometry_opacity = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + uniform float geometry_opacity_threshold = 0.f + [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(0.0, 1.0) + ]], + + + // Clearcoat // + + uniform bool enable_coat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a coat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float coat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for coat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + color coat_color = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float coat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float coat_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(0.0, 1.0) + ]], + float2 coat_aniso_roughness = float2(0.0, 0.0) [[ + anno::display_name("Clearcoat aniso roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hidden() + ]], + float coat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the coat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(0.0, 4.0) + ]], + float3 clearcoat_geometry_normal = state::normal() [[ + anno::display_name("Clearcoat Normal"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]], + float3 geometry_normal = state::normal() [[ + anno::display_name("Geometry Normal"), + anno::in_group("Geometry"), + anno::usage("normal") + ]] + +) +[[ + anno::display_name("OmniPBR Base"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Omni Materials"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = let{ + + // Diffuse Bsdf // + + color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; + + color base_color = tinted_diffuse_color; + + bsdf diffuse_bsdf = df::weighted_layer( + weight: 1.0, + layer: df::diffuse_reflection_bsdf( + tint: base_color, + roughness: float(0.0) + ), + base: bsdf(), + normal: geometry_normal + ); + + // Glossy Reflection Bsdf // + + float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); + float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness + + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); + bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: roughness_u, + roughness_v: roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf custom_curve_layer_bsdf = df::custom_curve_layer( + normal_reflectivity: 0.08, + grazing_reflectivity: 1.0, + exponent: 5.0, + weight: specular_level, + layer: ggx_smith_bsdf, + base: diffuse_bsdf, + normal: geometry_normal + ); + + bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); + + bsdf omni_PBR_bsdf = df::weighted_layer( + weight: metalness, + layer: directional_factor_bsdf, + base: custom_curve_layer_bsdf, + normal: geometry_normal + ); + + // Clear Coat // + + float coat_roughness_u = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); + float coat_roughness_v = math::clamp(coat_roughness * coat_roughness + + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); + bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( + roughness_u: coat_roughness_u, + roughness_v: coat_roughness_v, + tint: color(1.0), + mode: df::scatter_reflect + ); + + bsdf opaque_coat = df::weighted_layer( + weight: coat_transparency, + layer: ::df::tint( + tint: coat_color, + base: omni_PBR_bsdf + ), + base: ::df::diffuse_reflection_bsdf( + tint: coat_color + ) + ); + + bsdf omni_PBR_coated_bsdf = df::fresnel_layer( + ior: coat_ior, + weight: coat_weight, + layer: coat_bsdf, + base: opaque_coat, + normal: clearcoat_geometry_normal + ); + + bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; + + color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); + + float opacity_value = geometry_opacity; + float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; + + material_emission emission = material_emission( + df::diffuse_edf(), + intensity: emission_value + ); + + material_surface surface = material_surface( + scattering: final_bsdf, + emission: emission + ); + + material_geometry geometry = material_geometry( + normal: state::rounded_corner_normal( + radius: round_edges_radius, + across_materials: round_edges_across_materials, + roundness: round_edges_roundness + ), + cutout_opacity: cutout_opacity + ); + +} in material( + surface: surface, + geometry: geometry +); diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR_ClearCoat.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR_ClearCoat.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7a2e7e1f06d0708ba56f84998d14b41fdaccf29a --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/OmniPBR_ClearCoat.mdl @@ -0,0 +1,711 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.7; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::base::*; +import ::state::*; +import ::tex::*; +import ::anno::*; + +import ::debug::*; + +import core_definitions::file_texture; +import core_definitions::normalmap_texture; + +import OmniPBRBase::*; + +// Functions // + + +// Returns a matrix from R,T,S. inputs // + +uniform float4x4 rotation_translation_scale( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct a transformation matrix from euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0.0 , 0.0 , 0.0, + 0.0 , scaling.y , 0.0 , 0.0, + 0.0 , 0.0 , scaling.z , 0.0, + translation.x , translation.y , translation.z , 1.0); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0.0 , 0.0 , 0 , 1.0); + + return scale * rotate; +} + +// Returns the normal n in tangent space, given n is in internal space. // + +float3 transform_internal_to_tangent(float3 n) +{ + /* flip_tangent_v */ + return + n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ + n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ + n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x - + state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ + state::normal() * n.z; +} + +// Returns a normal by adding a detail normal to a global normal. +export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n_t = transform_internal_to_tangent(n); + float3 nd_t = transform_internal_to_tangent(nd); + n_t = n_t + float3(0.,0.,1.); + nd_t = nd_t * float3(-1.,-1.,1.); + n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; + return math::normalize(transform_tangent_to_internal(n)); +} + +base::texture_return multiply_colors( + color color_1 = color(1.0, 1.0, 1.0), + color color_2 = color(.5, .5, .5), + float weight = 1.0 + ) +[[ + anno::hidden() +]] +{ + return base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: color_2, + weight: weight, + mode: base::color_layer_multiply + )), + base: color_1 + ); +} + + +// OmniPBR Clearcoat // + +export material OmniPBR_ClearCoat( + + // Albdeo // + + color diffuse_color_constant = color(0.2) [[ + anno::display_name("Albedo Color"), + anno::description("This is the albedo base color"), + anno::in_group("Albedo") + ]], + uniform texture_2d diffuse_texture = texture_2d() [[ + anno::display_name("Albedo Map"), + anno::in_group("Albedo") + ]], + float albedo_desaturation = float(0.0) [[ + anno::display_name("Albedo Map Desaturation"), + anno::description("Desaturates the albedo map"), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + float albedo_add = float(0.0) [[ + anno::display_name("Albedo Add"), + anno::description("Adds a constant value to the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(-1.0), float(1.0)) + ]], + float albedo_brightness = float(1.0) [[ + anno::display_name("Albedo Brightness"), + anno::description("Multiplier for the diffuse color "), + anno::in_group("Albedo"), + anno::soft_range(float(0.0), float(1.0)) + ]], + color diffuse_tint = color(1.0) [[ + anno::display_name("Color Tint"), + anno::description("When enabled, this color value is multiplied over the final albedo color"), + anno::in_group("Albedo") + ]], + + + // Reflectivity // + + float reflection_roughness_constant = float(0.5) [[ + anno::display_name("Roughness Amount"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float reflection_roughness_texture_influence = float(0.0) [[ + anno::display_name("Roughness Map Influence"), + anno::description("Blends between the constant value and the lookup of the roughness texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d reflectionroughness_texture = texture_2d() [[ + anno::display_name("Roughness Map"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + float metallic_constant = float(0.0) [[ + anno::display_name("Metallic Amount"), + anno::description("Metallic Material"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float metallic_texture_influence = float(0.0) [[ + anno::display_name("Metallic Map Influence"), + anno::description("Blends between the constant value and the lookup of the metallic texture"), + anno::in_group("Reflectivity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d metallic_texture = texture_2d() [[ + anno::display_name("Metallic Map"), + anno::in_group("Reflectivity"), + anno::usage("metalness") + ]], + float specular_level = float(0.5) [[ + anno::display_name("Specular"), + anno::description("The specular level (intensity) of the material"), + anno::in_group("Reflectivity"), + anno::soft_range(float(0.0), float(1.0)) + ]], + + + // ORM // + + uniform bool enable_ORM_texture = false [[ + anno::display_name("Enable ORM Texture"), + anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), + anno::in_group("Reflectivity") + ]], + uniform texture_2d ORM_texture = texture_2d() [[ + anno::display_name("ORM Map"), + anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), + anno::in_group("Reflectivity"), + anno::usage("roughness") + ]], + + + // AO Group // + + float ao_to_diffuse = 0.0 [[ + anno::display_name("AO to diffuse"), + anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), + anno::in_group("AO"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform texture_2d ao_texture = texture_2d() [[ + anno::display_name("Ambient Occlusion Map"), + anno::description("The ambient occlusion texture for the material"), + anno::in_group("AO"), + anno::usage("occlusion") + ]], + + + // Emission // + + uniform bool enable_emission = false [[ + anno::display_name("Enable Emission"), + anno::description("Enables the emission of light from the material"), + anno::in_group("Emissive") + ]], + color emissive_color = color(1.0,0.1,0.1) [[ + anno::display_name("Emissive Color"), + anno::description("The emission color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_color_texture = texture_2d() [[ + anno::display_name("Emissive Color map"), + anno::in_group("Emissive"), + anno::description("The emissive color texture"), + anno::enable_if("enable_emission == true") + ]], + uniform texture_2d emissive_mask_texture = texture_2d() [[ + anno::display_name("Emissive Mask map"), + anno::description("The texture masking the emissive color"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true"), + anno::usage("occlusion") + ]], + float emissive_intensity = float(40.0) [[ + anno::display_name("Emissive Intensity"), + anno::description("Intensity of the emission"), + anno::in_group("Emissive"), + anno::enable_if("enable_emission == true") + ]], + + + // Cutout Opacity // + + uniform bool enable_opacity = false [[ + anno::display_name("Enable Opacity"), + anno::description("Enables the use of cutout opacity"), + anno::in_group("Opacity") + ]], + uniform texture_2d opacity_texture = texture_2d() [[ + anno::display_name("Opacity Map"), + anno::in_group("Opacity"), + anno::usage("opacity") + ]], + float opacity_constant = float(1.0) [[ + anno::display_name("Opacity Amount"), + anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + uniform bool enable_opacity_texture = false [[ + anno::display_name("Enable Opacity Texture"), + anno::description("Enables or disables the usage of the opacity texture map"), + anno::in_group("Opacity") + ]], + uniform base::mono_mode opacity_mode = base::mono_average [[ + anno::display_name("Opacity Mono Source"), + anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), + anno::in_group("Opacity") + ]], + uniform float opacity_threshold = float(0.0) [[ + anno::display_name("Opacity Threshold"), + anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), + anno::in_group("Opacity"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Clearcoat // + + uniform bool enable_clearcoat = false [[ + anno::display_name("Enable Clearcoat Layer"), + anno::description("Adds a clearcoat layer on top of the material when enabled"), + anno::in_group("Clearcoat") + ]], + float clearcoat_weight = float(1.0) [[ + anno::display_name("Clearcoat Weight"), + anno::description("Sets the weight for clearcoat layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + color clearcoat_tint = color(1.0) [[ + anno::display_name("Clearcoat Tint"), + anno::description("Clearcoat is tinted and affects the underlying material"), + anno::in_group("Clearcoat") + ]], + float clearcoat_transparency = float(1.0) [[ + anno::display_name("Clearcoat Transparency"), + anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_reflection_roughness = float(0.0) [[ + anno::display_name("Clearcoat Roughness"), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + float clearcoat_ior = float(1.56) [[ + anno::display_name("Clearcoat IOR"), + anno::description("Sets the Index of refraction for the clearcoat layer"), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(4.0)) + ]], + uniform float clearcoat_bump_factor = float(1.0) [[ + anno::display_name("Clearcoat Normal Map Strength"), + anno::description("Strength of normal map."), + anno::in_group("Clearcoat"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ + anno::display_name("Clearcoat Normal Map"), + anno::description("Enables the usage of the normalmap texture"), + anno::in_group("Clearcoat"), + anno::usage("normal") + ]], + uniform float2 clearcoat_texture_translate = float2(0.0) [[ + anno::display_name("Clearcoat Texture Translate"), + anno::description("Controls the position of the clearcoat texture"), + anno::ui_order(1), + anno::in_group("UV") + ]], + uniform float clearcoat_texture_rotate = float(0.0) [[ + anno::display_name("Clearcoat Texture Rotate"), + anno::description("Rotates angle of the clearcoat texture in degrees"), + anno::ui_order(2), + anno::in_group("UV") + ]], + uniform float2 clearcoat_texture_scale = float2(1.0) [[ + anno::display_name("Clearcoat Texture Tiling"), + anno::description("Controls the repetition of the clearcoat texture"), + anno::ui_order(3), + anno::in_group("UV") + ]], + float clearcoat_flatten = float(1.0) [[ + anno::display_name("Clearcoat Flatten"), + anno::description("Flattens the clearcoat to even out the underlying bump maps"), + anno::in_group("Clearcoat"), + anno::hard_range(float(0.0), float(1.0)) + ]], + + + // Normal // + + uniform float geometry_normal_roughness_strength = 1.f + [[ + anno::hard_range(0.0, 1.0), + anno::display_name("Normal map to roughness weight"), + anno::description("Enables and weights roughness induced by normal maps"), + anno::in_group("Normal") + ]], + uniform float bump_factor = float(1.0) [[ + anno::display_name("Normal Strength"), + anno::description("Strength of normal map"), + anno::in_group("Normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d normalmap_texture = texture_2d() [[ + anno::display_name("Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform float detail_bump_factor = float(0.3) [[ + anno::display_name("Detail Normal Strength"), + anno::in_group("Normal"), + anno::description("Strength of the detail normal"), + anno::soft_range(float(0.0), float(1.0)) + ]], + uniform texture_2d detail_normalmap_texture = texture_2d() [[ + anno::display_name("Detail Normal Map"), + anno::in_group("Normal"), + anno::usage("normal") + ]], + uniform bool flip_tangent_u = false [[ + anno::display_name("Normal Map Flip U Tangent"), + anno::in_group("Normal") + ]], + uniform bool flip_tangent_v = true [[ + anno::display_name("Normal Map Flip V Tangent"), + anno::in_group("Normal") + ]], + + + // UVW Projection Group // + + uniform bool project_uvw = false [[ + anno::display_name("Enable Project UVW Coordinates"), + anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), + anno::in_group("UV") + ]], + uniform bool world_or_object = false [[ + anno::display_name("Enable World Space"), + anno::description("When enabled, uses world space for projection, otherwise object space is used"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform int uv_space_index = 0 [[ + anno::display_name("UV Space Index"), + anno::description("UV Space Index"), + anno::in_group("UV"), + anno::enable_if("project_uvw == true"), + anno::hard_range(int(0), int(3)) + ]], + + + // UVW Adjustments Group // + + uniform float2 texture_translate = float2(0.0) [[ + anno::display_name("Texture Translate"), + anno::description("Controls position of texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float texture_rotate = float(0.0) [[ + anno::display_name("Texture Rotate"), + anno::description("Rotates angle of texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 texture_scale = float2(1.0) [[ + anno::display_name("Texture Tiling"), + anno::description("Controls repetition of the texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_translate = float2(0.0) [[ + anno::display_name("Detail Texture Translate"), + anno::description("Controls the position of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float detail_texture_rotate = float(0.0) [[ + anno::display_name("Detail Texture Rotate"), + anno::description("Rotates angle of the detail texture in degrees."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + uniform float2 detail_texture_scale = float2(1.0) [[ + anno::display_name("Detail Texture Tiling"), + anno::description("Controls repetition of the detail texture."), + anno::in_group("UV"), + anno::enable_if("project_uvw == true") + ]], + + + // Geometry // + + uniform float round_edges_radius = float(0.0) [[ + anno::display_name("Round Edge Radius"), + anno::description("Influence radius around the edges in meters"), + anno::in_group("Geometry"), + anno::soft_range(0.0, 1.0) + ]], + uniform float round_edges_roundness = float(1.0) [[ + anno::display_name("Round Edge Roundness"), + anno::description("Determines how round the edge will look"), + anno::in_group("Geometry"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false [[ + anno::display_name("Round Edge Across Materials"), + anno::description("Normal smoothing happens only between facets of equal material, \n" + "\t\tunless this parameter is set true, in which case the smoothing \n" + "\t\thappens between facets irrespective of their materials"), + anno::in_group("Geometry") + ]] +) +[[ + anno::display_name("OmniPBR ClearCoat "), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base"), + anno::version( 2, 1, 1), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) +]] = let { + + // UVW lookup and transformation // + base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; + + base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( + coordinate_system: the_system, + texture_space: uv_space_index, + projection_type: base::projection_cubic + ) : + base::coordinate_source( + coordinate_system: base::texture_coordinate_uvw, + texture_space: uv_space_index + ); + + base::texture_coordinate_info transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(texture_scale.x, texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), + translation: float3(texture_translate.x, texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), + translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) + ), + coordinate: uvw + ); + + base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), + rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), + translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) + ), + coordinate: uvw + ); + + // Normal calculations // + OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); + + OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: normalmap_texture, + factor: bump_factor, + uvw: transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + //flip_tangent_v: true + + ) : defaultData; + float3 the_normal = normal_data.normal; + + OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: detail_normalmap_texture, + factor: detail_bump_factor, + uvw: detail_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 detail_normal = detail_normal_data.normal; + + OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? + OmniPBRBase::tangent_space_normal_roughness_texture( + texture: clearcoat_normalmap_texture, + factor: clearcoat_bump_factor, + uvw: clearcoat_transformed_uvw, + flip_tangent_u: flip_tangent_u, + flip_tangent_v: flip_tangent_v // true for dx, false for opengl + ) : defaultData; + float3 clearcoat_normal = clearcoat_normal_data.normal; + + + float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; + float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); + float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) + : flattened_clearcoat_normal; + + + // ORM Handling // + + float3 ORM_lookup = tex::lookup_float3( + tex: ORM_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + + float3 roughness_lookup = tex::lookup_float3( + tex: reflectionroughness_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; + float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); + float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), + math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); + + float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), + math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); + + // Diffuse Color Lookup and AO // + + base::texture_return base_lookup = base::file_texture( + texture: diffuse_texture, + color_offset: color(albedo_add), + color_scale: color(albedo_brightness), + mono_source: base::mono_luminance, + uvw: transformed_uvw, + clip: false + ); + + base::texture_return ao_lookup = base::file_texture( + texture: ao_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ); + + + color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; + color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); + color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; + color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; + + color base_color = multiply_colors( + color_1: tinted_diffuse, + color_2: ao_color, + weight: ao_to_diffuse + ).tint; + + + // Metalness // + + float3 metallic_lookup = tex::lookup_float3( + tex: metallic_texture, + coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) + ); + + float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; + float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); + + + // Emission // + + color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? + base::file_texture( + texture: emissive_color_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : emissive_color; + + color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? + base::file_texture( + texture: emissive_mask_texture, + color_offset: color(0.0, 0.0, 0.0), + color_scale: color(1.0, 1.0, 1.0), + mono_source: base::mono_average, + uvw: transformed_uvw, + clip: false + ).tint : color(1.0); + + color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); + + // Opacity // + + float opacity_value = enable_opacity_texture ? base::file_texture( + texture: opacity_texture, + mono_source: opacity_mode, + uvw: transformed_uvw + ).mono : opacity_constant; + + float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; + + material base = OmniPBRBase::OmniPBRBase( + diffuse_reflection_color: base_color, + specular_reflection_aniso_roughness: reflection_roughness, + specular_level: specular_level, + metalness: metallic, + enable_emission: enable_emission, + emission_color: final_emission_color, + emission_intensity: emissive_intensity, + enable_coat: enable_clearcoat, + coat_weight: clearcoat_weight, + coat_color: clearcoat_tint, + coat_transparency: clearcoat_transparency, + coat_aniso_roughness: clearcoat_reflection_roughness2, + coat_ior: clearcoat_ior, + enable_opacity: enable_opacity, + geometry_opacity: cutout_opacity, + clearcoat_geometry_normal: final_clearcoat_normal, + round_edges_radius: round_edges_radius, + round_edges_roundness: round_edges_roundness, + round_edges_across_materials: round_edges_across_materials, + geometry_normal: diffuse_gloss_normal + ); + +} in material( +surface: base.surface, +geometry: base.geometry +); diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/aux_definitions.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/aux_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ceafd716af19521a4733704808ebcc07613217e1 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/aux_definitions.mdl @@ -0,0 +1,3464 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +mdl 1.4; + +import ::anno::*; +export using ::base import texture_return; + +module +[[ + anno::version( 1, 2, 0), + anno::hidden(), + anno::display_name("NVIDIA auxillary definitions") +]]; + +// Support functions to simplify conversions between vector types with swizzles +// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) +// Supported return types: float, float2, float3 color + + +export annotation icon(string path); + + +//*********************************************************************************************************************** +// Constructor wrappers + +export float construct_float( + texture_return a [[ + anno::description("Input texture sample container; the mono channel is returned.") + ]]) +[[ + anno::display_name("Float from texture_return"), + anno::description("Constructs a float from the mono channel of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float"), + icon(".icons/constructor.svg"), + anno::ui_order(10000) +]] +{ return a.mono; } + +export color construct_color( + float a [[ + anno::description("Scalar value replicated into all color channels.") + ]]) +[[ + anno::display_name("Color from float"), + anno::description("Constructs a color from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10001) +]] +{ return color(a); } + +export color construct_color( + float3 a [[ + anno::description("RGB source components.") + ]]) +[[ + anno::display_name("Color from float3"), + anno::description("Constructs a color from a float3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10002) +]] +{ return color(a); } + +export color construct_color( + float r [[ + anno::description("Red channel value.") + ]], + float g [[ + anno::description("Green channel value.") + ]], + float b [[ + anno::description("Blue channel value.") + ]]) +[[ + anno::display_name("Color from floats"), + anno::description("Constructs a color from explicit red, green, and blue components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10003) +]] +{ return color(r,g,b); } + +export color construct_color( + texture_return a [[ + anno::description("Input texture sample container; the tint (RGB) channels are returned.") + ]]) +[[ + anno::display_name("Color from texture_return"), + anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Color"), + icon(".icons/constructor.svg"), + anno::ui_order(10004) +]] +{ return a.tint; } + +export float4 construct_float4( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from floats"), + anno::description("Constructs a float4 from explicit x, y, z, and w components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10005) +]] +{ return float4(x,y,z,w); } + +export float4 construct_float4( + float3 xyz [[ + anno::description("Source xyz components.") + ]], + float w [[ + anno::description("W component value.") + ]]) +[[ + anno::display_name("Float4 from float3,float"), + anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float4"), + icon(".icons/constructor.svg"), + anno::ui_order(10006) +]] +{ return float4(xyz.x,xyz.y,xyz.z,w); } + +export float3 construct_float3( + color a [[ + anno::description("Input color whose RGB channels are converted to float3.") + ]]) +[[ + anno::display_name("Float3 from color"), + anno::description("Constructs a float3 from a color value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10007) +]] +{ return float3(a); } + +export float3 construct_float3( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]], + float z [[ + anno::description("Z component value.") + ]]) +[[ + anno::display_name("Float3 from floats"), + anno::description("Constructs a float3 from explicit x, y, and z components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10008) +]] +{ return float3(x,y,z); } + +export float3 construct_float3( + int3 a [[ + anno::description("Input int3 converted component-wise to float3.") + ]]) +[[ + anno::display_name("Float3 from int3"), + anno::description("Constructs a float3 from an int3 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float3"), + icon(".icons/constructor.svg"), + anno::ui_order(10009) +]] +{ return float3(a); } + +export float2 construct_float2( + float a [[ + anno::description("Scalar value replicated into both components.") + ]]) +[[ + anno::display_name("Float2 from float"), + anno::description("Constructs a float2 from a single float value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10010) +]] +{ return float2(a); } + +export float2 construct_float2( + float x [[ + anno::description("X component value.") + ]], + float y [[ + anno::description("Y component value.") + ]]) +[[ + anno::display_name("Float2 from floats"), + anno::description("Constructs a float2 from explicit x and y components."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10011) +]] +{ return float2(x,y); } + +export float2 construct_float2( + int2 a [[ + anno::description("Input int2 converted component-wise to float2.") + ]]) +[[ + anno::display_name("Float2 from int2"), + anno::description("Constructs a float2 from an int2 value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Float2"), + icon(".icons/constructor.svg"), + anno::ui_order(10012) +]] +{ return float2(a); } + +export int3 construct_int3( + int a [[ + anno::description("Scalar value replicated into all int3 components.") + ]]) +[[ + anno::display_name("Int3 from int"), + anno::description("Constructs an int3 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int3"), + icon(".icons/constructor.svg"), + anno::ui_order(10013) +]] +{ return int3(a); } + +export int2 construct_int2( + int a [[ + anno::description("Scalar value replicated into both int2 components.") + ]]) +[[ + anno::display_name("Int2 from int"), + anno::description("Constructs an int2 from a single int value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constructor", "Int2"), + icon(".icons/constructor.svg"), + anno::ui_order(10014) +]] +{ return int2(a); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float return type + +export float x( float2 a) +[[ + anno::display_name("X from float2"), + anno::description("Returns x from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11000) +]] +{ return a.x; } + +export float y( float2 a) +[[ + anno::display_name("Y from float2"), + anno::description("Returns y from float2."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11010) +]] +{ return a.y; } + +export float x( float3 a) +[[ + anno::display_name("X from float3"), + anno::description("Returns x from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11001) +]] +{ return a.x; } + +export float y( float3 a) +[[ + anno::display_name("Y from float3"), + anno::description("Returns y from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11011) +]] +{ return a.y; } + +export float z( float3 a) +[[ + anno::display_name("Z from float3"), + anno::description("Returns z from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11020) +]] +{ return a.z; } + +export float x( float4 a) +[[ + anno::display_name("X from float4"), + anno::description("Returns x from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "X"), + icon(".icons/component_extract.svg"), + anno::ui_order(11002) +]] +{ return a.x; } + +export float y( float4 a) +[[ + anno::display_name("Y from float4"), + anno::description("Returns y from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Y"), + icon(".icons/component_extract.svg"), + anno::ui_order(11012) +]] +{ return a.y; } + +export float z( float4 a) +[[ + anno::display_name("Z from float4"), + anno::description("Returns z from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "Z"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return a.z; } + +export float w( float4 a) +[[ + anno::display_name("W from float4"), + anno::description("Returns w from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11025) +]] +{ return a.w; } + +export float x( color a) +[[ + anno::display_name("R from color"), + anno::description("Returns r from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11003) +]] +{ return x( float3(a)); } + +export float y( color a) +[[ + anno::display_name("G from color"), + anno::description("Returns g from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11013) +]] +{ return y( float3(a)); } + +export float z( color a) +[[ + anno::display_name("B from color"), + anno::description("Returns b from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11021) +]] +{ return z( float3(a)); } + +export float x( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("R from texture_return"), + anno::description("Returns r from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "R"), + icon(".icons/component_extract.svg"), + anno::ui_order(11004) +]] +{ return float3( a.tint).x; } + +export float y( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("G from texture_return"), + anno::description("Returns g from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "G"), + icon(".icons/component_extract.svg"), + anno::ui_order(11014) +]] +{ return float3( a.tint).y; } + +export float z( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("B from texture_return"), + anno::description("Returns b from texture_return tint."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "B"), + icon(".icons/component_extract.svg"), + anno::ui_order(11022) +]] +{ return float3( a.tint).z; } + +export float w( + texture_return a [[ + anno::description("Input texture sample container.") + ]]) +[[ + anno::display_name("Mono from texture_return"), + anno::description("Returns mono/alpha from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float", "W"), + icon(".icons/component_extract.svg"), + anno::ui_order(11026) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Conversions of texture_return +// All are hidden +export float4 texture_return_float4( + texture_return a [[ + anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") + ]]) +[[ + anno::display_name("float4 from texture_return"), + anno::description("Converts texture_return to float4 using tint RGB and mono as W."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float4"), + icon(".icons/component_extract.svg"), + anno::ui_order(10108) +]] +{ return float4(x(a),y(a),z(a),w(a)); } + +export float3 texture_return_float3( + texture_return a [[ + anno::description("Input texture sample container to unpack as float3 (r, g, b).") + ]]) +[[ + anno::display_name("float3 from texture_return"), + anno::description("Converts texture_return to float3 using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + icon(".icons/component_extract.svg"), + anno::ui_order(10109) +]] +{ return float3(x(a),y(a),z(a)); } + +export color texture_return_color( + texture_return a [[ + anno::description("Input texture sample container; tint RGB is returned as color.") + ]]) +[[ + anno::display_name("color from texture_return"), + anno::description("Converts texture_return to color using the tint RGB channels."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Color"), + icon(".icons/component_extract.svg"), + anno::ui_order(10110) +]] +{ return a.tint; } + +export float texture_return_float( + texture_return a [[ + anno::description("Input texture sample container; mono channel is returned.") + ]]) +[[ + anno::display_name("float from texture_return"), + anno::description("Converts texture_return to float using the mono channel."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float"), + icon(".icons/component_extract.svg"), + anno::ui_order(10111) +]] +{ return a.mono; } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float2 return type + +export float2 xy( float2 a) +[[ + anno::display_name("XY from float2"), + anno::description("Returns float2(x,y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11040) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float3 a) +[[ + anno::display_name("XY from float3"), + anno::description("Returns float2(x,y) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11041) +]] +{ return float2( a.x, a.y); } + +export float2 xy( float4 a) +[[ + anno::display_name("XY from float4"), + anno::description("Returns float2(x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return float2( a.x, a.y); } + +export float2 xy( color a) +[[ + anno::display_name("XY from color"), + anno::description("Returns float2(x,y) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return xy( float3(a)); } + +export float2 xy( + texture_return a [[ + anno::description("Input texture sample container; returns the first two tint channels.") + ]]) +[[ + anno::display_name("XY from texture_return"), + anno::description("Returns float2(r, g) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11044) +]] +{ return xy(texture_return_float4(a)); } + + +// The remaining are hidden +export float2 xx( float2 a) +[[ + anno::display_name("XX from float2"), + anno::description("Returns float2(x,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11030) +]] +{ return float2( a.x, a.x); } + +export float2 yx( float2 a) +[[ + anno::display_name("YX from float2"), + anno::description("Returns float2(y,x)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11050) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float2 a) +[[ + anno::display_name("YY from float2"), + anno::description("Returns float2(y,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11060) +]] +{ return float2( a.y, a.y); } + +export float2 xx( float3 a) +[[ + anno::display_name("XX from float3"), + anno::description("Returns float2(x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11031) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float3 a) +[[ + anno::display_name("XZ from float3"), + anno::description("Returns float2(x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11042) +]] +{ return float2( a.x, a.z); } + +export float2 yz( float3 a) +[[ + anno::display_name("YZ from float3"), + anno::description("Returns float2(y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11043) +]] +{ return float2( a.y, a.z); } + +export float2 yx( float3 a) +[[ + anno::display_name("YX from float3"), + anno::description("Returns float2(y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11051) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float3 a) +[[ + anno::display_name("YY from float3"), + anno::description("Returns float2(y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11061) +]] +{ return float2( a.y, a.y); } + +export float2 zx( float3 a) +[[ + anno::display_name("ZX from float3"), + anno::description("Returns float2(z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11090) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float3 a) +[[ + anno::display_name("ZY from float3"), + anno::description("Returns float2(z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11100) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float3 a) +[[ + anno::display_name("ZZ from float3"), + anno::description("Returns float2(z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11110) +]] +{ return float2( a.z, a.z); } + +export float2 xx( float4 a) +[[ + anno::display_name("XX from float4"), + anno::description("Returns float2(x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11032) +]] +{ return float2( a.x, a.x); } + +export float2 xz( float4 a) +[[ + anno::display_name("XZ from float4"), + anno::description("Returns float2(x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11071) +]] +{ return float2( a.x, a.z); } + +export float2 xw( float4 a) +[[ + anno::display_name("XW from float4"), + anno::description("Returns float2(x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11120) +]] +{ return float2( a.x, a.w); } + +export float2 yx( float4 a) +[[ + anno::display_name("YX from float4"), + anno::description("Returns float2(y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11052) +]] +{ return float2( a.y, a.x); } + +export float2 yy( float4 a) +[[ + anno::display_name("YY from float4"), + anno::description("Returns float2(y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11062) +]] +{ return float2( a.y, a.y); } + +export float2 yz( float4 a) +[[ + anno::display_name("YZ from float4"), + anno::description("Returns float2(y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11081) +]] +{ return float2( a.y, a.z); } + +export float2 yw( float4 a) +[[ + anno::display_name("YW from float4"), + anno::description("Returns float2(y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11125) +]] +{ return float2( a.y, a.w); } + +export float2 zx( float4 a) +[[ + anno::display_name("ZX from float4"), + anno::description("Returns float2(z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11091) +]] +{ return float2( a.z, a.x); } + +export float2 zy( float4 a) +[[ + anno::display_name("ZY from float4"), + anno::description("Returns float2(z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11101) +]] +{ return float2( a.z, a.y); } + +export float2 zz( float4 a) +[[ + anno::display_name("ZZ from float4"), + anno::description("Returns float2(z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11111) +]] +{ return float2( a.z, a.z); } + +export float2 zw( float4 a) +[[ + anno::display_name("ZW from float4"), + anno::description("Returns float2(z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11127) +]] +{ return float2( a.z, a.w); } + +export float2 wx( float4 a) +[[ + anno::display_name("WX from float4"), + anno::description("Returns float2(w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11129) +]] +{ return float2( a.w, a.x); } + +export float2 wy( float4 a) +[[ + anno::display_name("WX from loat4"), + anno::description("Returns float2(w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11131) +]] +{ return float2( a.w, a.y); } + +export float2 wz( float4 a) +[[ + anno::display_name("WZ from float4"), + anno::description("Returns float2(w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11133) +]] +{ return float2( a.w, a.z); } + +export float2 ww( float4 a) +[[ + anno::display_name("WW from float4"), + anno::description("Returns float2(w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11135) +]] +{ return float2( a.w, a.w); } + +export float2 xx( color a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11033) +]] +{ return xx( float3(a)); } + +export float2 xz( color a) +[[ + anno::display_name("XZ from color"), + anno::description("Returns float2(x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11072) +]] +{ return xz( float3(a)); } + +export float2 yx( color a) +[[ + anno::display_name("YX from color"), + anno::description("Returns float2(y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11053) +]] +{ return yx( float3(a)); } + +export float2 yy( color a) +[[ + anno::display_name("YY from color"), + anno::description("Returns float2(y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11063) +]] +{ return yy( float3(a)); } + +export float2 yz( color a) +[[ + anno::display_name("YZ from color"), + anno::description("Returns float2(y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11082) +]] +{ return yz( float3(a)); } + +export float2 zx( color a) +[[ + anno::display_name("ZX from color"), + anno::description("Returns float2(z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11092) +]] +{ return zx( float3(a)); } + +export float2 zy( color a) +[[ + anno::display_name("ZY from color"), + anno::description("Returns float2(z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11102) +]] +{ return zy( float3(a)); } + +export float2 zz( color a) +[[ + anno::display_name("ZZ from color"), + anno::description("Returns float2(z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11112) +]] +{ return zz( float3(a)); } + +export float2 xx( texture_return a) +[[ + anno::display_name("XX from color"), + anno::description("Returns float2(x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11034) +]] +{ return xx(texture_return_float4(a)); } + +export float2 xz( texture_return a) +[[ + anno::display_name("XZ from texture_return"), + anno::description("Returns float2(x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11073) +]] +{ return xz(texture_return_float4(a)); } + +export float2 xw( texture_return a) +[[ + anno::display_name("XW from texture_return"), + anno::description("Returns float2(x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11121) +]] +{ return xw(texture_return_float4(a)); } + +export float2 yx( texture_return a) +[[ + anno::display_name("YX from texture_return"), + anno::description("Returns float2(y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11054) +]] +{ return yx(texture_return_float4(a)); } + +export float2 yy( texture_return a) +[[ + anno::display_name("YY from texture_return"), + anno::description("Returns float2(y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11064) +]] +{ return yy(texture_return_float4(a)); } + +export float2 yz( texture_return a) +[[ + anno::display_name("YZ from texture_return"), + anno::description("Returns float2(y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11083) +]] +{ return yz(texture_return_float4(a)); } + +export float2 yw( texture_return a) +[[ + anno::display_name("YW from texture_return"), + anno::description("Returns float2(y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11126) +]] +{ return yw(texture_return_float4(a)); } + +export float2 zx( texture_return a) +[[ + anno::display_name("ZX from texture_return"), + anno::description("Returns float2(z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11093) +]] +{ return zx(texture_return_float4(a)); } + +export float2 zy( texture_return a) +[[ + anno::display_name("ZY from texture_return"), + anno::description("Returns float2(z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11103) +]] +{ return zy(texture_return_float4(a)); } + +export float2 zz( texture_return a) +[[ + anno::display_name("ZZ from texture_return"), + anno::description("Returns float2(z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11113) +]] +{ return zz(texture_return_float4(a)); } + +export float2 zw( texture_return a) +[[ + anno::display_name("ZW from texture_return"), + anno::description("Returns float2(z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11128) +]] +{ return zw(texture_return_float4(a)); } + +export float2 wx( texture_return a) +[[ + anno::display_name("WX from texture_return.WX"), + anno::description("Returns float2(w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11130) +]] +{ return wx(texture_return_float4(a)); } + +export float2 wy( texture_return a) +[[ + anno::display_name("WY from texture_return"), + anno::description("Returns float2(w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11132) +]] +{ return wy(texture_return_float4(a)); } + +export float2 wz( texture_return a) +[[ + anno::display_name("WZ from texture_return"), + anno::description("Returns float2(w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11134) +]] +{ return wz(texture_return_float4(a)); } + +export float2 ww( texture_return a) +[[ + anno::display_name("WW from texture_return"), + anno::description("Returns float2(w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float2"), + icon(".icons/component_extract.svg"), + anno::ui_order(11136) +]] +{ return ww(texture_return_float4(a)); } +//*********************************************************************************************************************** + + + +//*********************************************************************************************************************** +// Swizzles with float3 return type + +export float3 xyz( float3 a) +[[ + anno::display_name("XYZ from float3"), + anno::description("Returns float3(x,y,z) from float3."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11290) +]] +{ return float3( a.x, a.y, a.z); } + +export float3 xyz( float4 a) +[[ + anno::display_name("XYZ from float4"), + anno::description("Returns float3(x,y,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11291) +]] +{ return float3( a.x, a.y, a.z); } + + +// The remaining are hidden +export float3 yyw( float4 a) +[[ + anno::display_name("YYW from float4"), + anno::description("Returns float3(y,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11640) +]] +{ return float3( a.y, a.y, a.w); } + +export float3 xxx( float2 a) +[[ + anno::display_name("XXX from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11200) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float2 a) +[[ + anno::display_name("XXY from float2"), + anno::description("Returns float3(x,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11210) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xyx( float2 a) +[[ + anno::display_name("XYX from float2"), + anno::description("Returns float3(x,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11230) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float2 a) +[[ + anno::display_name("XYY from float2"), + anno::description("Returns float3(x,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11240) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 yxx( float2 a) +[[ + anno::display_name("YXX from float2"), + anno::description("Returns float3(y,x,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11250) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float2 a) +[[ + anno::display_name("YXY from float2"), + anno::description("Returns float3(y,x,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11260) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yyx( float2 a) +[[ + anno::display_name("YYX from float2"), + anno::description("Returns float3(y,y,x) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11270) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float2 a) +[[ + anno::display_name("YYY from float2"), + anno::description("Returns float3(y,y,y) from float2."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11280) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 xxx( float3 a) +[[ + anno::display_name("XXX from float3"), + anno::description("Returns float3(x,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11201) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float3 a) +[[ + anno::display_name("XXY from float3"), + anno::description("Returns float3(x,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11211) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float3 a) +[[ + anno::display_name("XXZ from float3"), + anno::description("Returns float3(x,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11220) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xyx( float3 a) +[[ + anno::display_name("XYX from float3"), + anno::description("Returns float3(x,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11231) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float3 a) +[[ + anno::display_name("XYY from float3"), + anno::description("Returns float3(x,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11241) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xzx( float3 a) +[[ + anno::display_name("XZX from float3"), + anno::description("Returns float3(x,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11300) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float3 a) +[[ + anno::display_name("XZY from float3"), + anno::description("Returns float3(x,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11310) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float3 a) +[[ + anno::display_name("XZZ from float3"), + anno::description("Returns float3(x,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11320) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 yxx( float3 a) +[[ + anno::display_name("YXX from float3"), + anno::description("Returns float3(y,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11251) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float3 a) +[[ + anno::display_name("YXY from float3"), + anno::description("Returns float3(y,x,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11261) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float3 a) +[[ + anno::display_name("YXZ from float3"), + anno::description("Returns float3(y,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11330) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yyx( float3 a) +[[ + anno::display_name("YYX from float3"), + anno::description("Returns float3(y,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11271) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float3 a) +[[ + anno::display_name("YYY from float3"), + anno::description("Returns float3(y,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11281) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float3 a) +[[ + anno::display_name("YYZ from float3"), + anno::description("Returns float3(y,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11340) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float3 a) +[[ + anno::display_name("YZX from float3"), + anno::description("Returns float3(y,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11350) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float3 a) +[[ + anno::display_name("YZY from float3.YZY"), + anno::description("Returns float3(y,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11360) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float3 a) +[[ + anno::display_name("YZZ from float3"), + anno::description("Returns float3(y,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11370) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 zxx( float3 a) +[[ + anno::display_name("ZXX from float3"), + anno::description("Returns float3(z,x,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11380) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float3 a) +[[ + anno::display_name("float3.ZXY"), + anno::description("Returns float3(z,x,y)."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11390) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float3 a) +[[ + anno::display_name("ZXZ from float3"), + anno::description("Returns float3(z,x,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11400) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zyx( float3 a) +[[ + anno::display_name("ZYX from float3"), + anno::description("Returns float3(z,y,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11410) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float3 a) +[[ + anno::display_name("ZYY from float3"), + anno::description("Returns float3(z,y,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11420) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float3 a) +[[ + anno::display_name("ZYZ from float3"), + anno::description("Returns float3(z,y,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11430) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zzx( float3 a) +[[ + anno::display_name("ZZX from float3"), + anno::description("Returns float3(z,z,x) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11440) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float3 a) +[[ + anno::display_name("ZZY from float3"), + anno::description("Returns float3(z,z,y) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11450) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float3 a) +[[ + anno::display_name("ZZZ from float3"), + anno::description("Returns float3(z,z,z) from float3."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11460) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 xxx( float4 a) +[[ + anno::display_name("XXX from float4"), + anno::description("Returns float3(x,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11202) +]] +{ return float3( a.x, a.x, a.x); } + +export float3 xxy( float4 a) +[[ + anno::display_name("XXY from float4"), + anno::description("Returns float3(x,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11212) +]] +{ return float3( a.x, a.x, a.y); } + +export float3 xxz( float4 a) +[[ + anno::display_name("XXZ from float4"), + anno::description("Returns float3(x,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11222) +]] +{ return float3( a.x, a.x, a.z); } + +export float3 xxw( float4 a) +[[ + anno::display_name("XXW from float4"), + anno::description("Returns float3(x,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11227) +]] +{ return float3( a.x, a.x, a.w); } + +export float3 xyx( float4 a) +[[ + anno::display_name("XYX from float4"), + anno::description("Returns float3(x,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11232) +]] +{ return float3( a.x, a.y, a.x); } + +export float3 xyy( float4 a) +[[ + anno::display_name("XYY from float4"), + anno::description("Returns float3(x,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11242) +]] +{ return float3( a.x, a.y, a.y); } + +export float3 xyw( float4 a) +[[ + anno::display_name("XYW from float4"), + anno::description("Returns float3(x,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11295) +]] +{ return float3( a.x, a.y, a.w); } + +export float3 xzx( float4 a) +[[ + anno::display_name("XZX from float4"), + anno::description("Returns float3(x,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11301) +]] +{ return float3( a.x, a.z, a.x); } + +export float3 xzy( float4 a) +[[ + anno::display_name("XZY from float4"), + anno::description("Returns float3(x,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11311) +]] +{ return float3( a.x, a.z, a.y); } + +export float3 xzz( float4 a) +[[ + anno::display_name("XZZ from float4"), + anno::description("Returns float3(x,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return float3( a.x, a.z, a.z); } + +export float3 xzw( float4 a) +[[ + anno::display_name("XZW from float4"), + anno::description("Returns float3(x,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11600) +]] +{ return float3( a.x, a.z, a.w); } + +export float3 xwx( float4 a) +[[ + anno::display_name("XWX from float4"), + anno::description("Returns float3(x,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11604) +]] +{ return float3( a.x, a.w, a.x); } + +export float3 xwy( float4 a) +[[ + anno::display_name("XWY from float4"), + anno::description("Returns float3(x,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11608) +]] +{ return float3( a.x, a.w, a.y); } + +export float3 xwz( float4 a) +[[ + anno::display_name("XWZ from float4"), + anno::description("Returns float3(x,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11612) +]] +{ return float3( a.x, a.w, a.z); } + +export float3 xww( float4 a) +[[ + anno::display_name("XWW from float4"), + anno::description("Returns float3(x,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11616) +]] +{ return float3( a.x, a.w, a.w); } + +export float3 yxx( float4 a) +[[ + anno::display_name("YXX from float4"), + anno::description("Returns float3(y,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11252) +]] +{ return float3( a.y, a.x, a.x); } + +export float3 yxy( float4 a) +[[ + anno::display_name("YXY from float4"), + anno::hidden(), + anno::description("Returns float3(y,x,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11262) +]] +{ return float3( a.y, a.x, a.y); } + +export float3 yxz( float4 a) +[[ + anno::display_name("YXZ from float4"), + anno::description("Returns float3(y,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11331) +]] +{ return float3( a.y, a.x, a.z); } + +export float3 yxw( float4 a) +[[ + anno::display_name("YXW from float4"), + anno::description("Returns float3(y,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11630) +]] +{ return float3( a.y, a.x, a.w); } + +export float3 yyx( float4 a) +[[ + anno::display_name("YYX from float4"), + anno::description("Returns float3(y,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11272) +]] +{ return float3( a.y, a.y, a.x); } + +export float3 yyy( float4 a) +[[ + anno::display_name("YYY from float4"), + anno::description("Returns float3(y,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11282) +]] +{ return float3( a.y, a.y, a.y); } + +export float3 yyz( float4 a) +[[ + anno::display_name("YYZ from float4"), + anno::description("Returns float3(y,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11341) +]] +{ return float3( a.y, a.y, a.z); } + +export float3 yzx( float4 a) +[[ + anno::display_name("YZX from float4"), + anno::description("Returns float3(y,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11351) +]] +{ return float3( a.y, a.z, a.x); } + +export float3 yzy( float4 a) +[[ + anno::display_name("YZY from float4"), + anno::description("Returns float3(y,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11361) +]] +{ return float3( a.y, a.z, a.y); } + +export float3 yzz( float4 a) +[[ + anno::display_name("YZZ from float4"), + anno::description("Returns float3(y,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11371) +]] +{ return float3( a.y, a.z, a.z); } + +export float3 yzw( float4 a) +[[ + anno::display_name("YZW from float4"), + anno::description("Returns float3(y,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11650) +]] +{ return float3( a.y, a.z, a.w); } + +export float3 ywx( float4 a) +[[ + anno::display_name("YWX from float4"), + anno::description("Returns float3(y,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11653) +]] +{ return float3( a.y, a.w, a.x); } + +export float3 ywy( float4 a) +[[ + anno::display_name("YWY from float4"), + anno::description("Returns float3(y,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11656) +]] +{ return float3( a.y, a.w, a.y); } + +export float3 ywz( float4 a) +[[ + anno::display_name("YWZ from float4"), + anno::description("Returns float3(y,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11658) +]] +{ return float3( a.y, a.w, a.z); } + +export float3 yww( float4 a) +[[ + anno::display_name("YWW from float4"), + anno::description("Returns float3(y,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11661) +]] +{ return float3( a.y, a.w, a.w); } + +export float3 zxx( float4 a) +[[ + anno::display_name("ZXX from float4"), + anno::description("Returns float3(z,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11381) +]] +{ return float3( a.z, a.x, a.x); } + +export float3 zxy( float4 a) +[[ + anno::display_name("ZXY from float4"), + anno::description("Returns float3(z,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11391) +]] +{ return float3( a.z, a.x, a.y); } + +export float3 zxz( float4 a) +[[ + anno::display_name("ZXZ from float4"), + anno::description("Returns float3(z,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11401) +]] +{ return float3( a.z, a.x, a.z); } + +export float3 zxw( float4 a) +[[ + anno::display_name("ZXW from float4"), + anno::description("Returns float3(z,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11671) +]] +{ return float3( a.z, a.x, a.w); } + +export float3 zyx( float4 a) +[[ + anno::display_name("ZYX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11411) +]] +{ return float3( a.z, a.y, a.x); } + +export float3 zyy( float4 a) +[[ + anno::display_name("ZYY from float4"), + anno::description("Returns float3(z,y,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11421) +]] +{ return float3( a.z, a.y, a.y); } + +export float3 zyz( float4 a) +[[ + anno::display_name("ZYZ from float4"), + anno::description("Returns float3(z,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11431) +]] +{ return float3( a.z, a.y, a.z); } + +export float3 zyw( float4 a) +[[ + anno::display_name("ZYW from float4"), + anno::description("Returns float3(z,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return float3( a.z, a.y, a.w); } + +export float3 zzx( float4 a) +[[ + anno::display_name("ZZX from float4"), + anno::description("Returns float3(z,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11441) +]] +{ return float3( a.z, a.z, a.x); } + +export float3 zzy( float4 a) +[[ + anno::display_name("ZZY from float4"), + anno::description("Returns float3(z,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11451) +]] +{ return float3( a.z, a.z, a.y); } + +export float3 zzz( float4 a) +[[ + anno::display_name("ZZZ from float4"), + anno::hidden(), + anno::description("Returns float3(z,z,z) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11461) +]] +{ return float3( a.z, a.z, a.z); } + +export float3 zzw( float4 a) +[[ + anno::display_name("ZZW from float4"), + anno::description("Returns float3(z,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11465) +]] +{ return float3( a.z, a.z, a.w); } + +export float3 zwx( float4 a) +[[ + anno::display_name("ZWX from float4"), + anno::description("Returns float3(z,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return float3( a.z, a.w, a.x); } + +export float3 zwy( float4 a) +[[ + anno::display_name("ZWY from float4"), + anno::description("Returns float3(z,w,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11471) +]] +{ return float3( a.z, a.w, a.y); } + +export float3 zwz( float4 a) +[[ + anno::display_name("ZWZ from float4"), + anno::description("Returns float3(z,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11475) +]] +{ return float3( a.z, a.w, a.z); } + +export float3 zww( float4 a) +[[ + anno::display_name("ZWW from float4"), + anno::description("Returns float3(z,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11479) +]] +{ return float3( a.z, a.w, a.w); } + +export float3 wxx( float4 a) +[[ + anno::display_name("WXX from float4"), + anno::description("Returns float3(w,x,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11483) +]] +{ return float3( a.w, a.x, a.x); } + +export float3 wxy( float4 a) +[[ + anno::display_name("WXY from float4"), + anno::description("Returns float3(w,x,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11487) +]] +{ return float3( a.w, a.x, a.y); } + +export float3 wxz( float4 a) +[[ + anno::display_name("WXZ from float4"), + anno::description("Returns float3(w,x,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11490) +]] +{ return float3( a.w, a.x, a.z); } + +export float3 wxw( float4 a) +[[ + anno::display_name("WXW from float4"), + anno::description("Returns float3(w,x,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11496) +]] +{ return float3( a.w, a.x, a.w); } + +export float3 wyx( float4 a) +[[ + anno::display_name("WYX from float4"), + anno::description("Returns float3(w,y,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11503) +]] +{ return float3( a.w, a.y, a.x); } + +export float3 wyy( float4 a) +[[ + anno::display_name("WYY from float4"), + anno::description("Returns float3(w,y,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11507) +]] +{ return float3( a.w, a.y, a.y); } + +export float3 wyz( float4 a) +[[ + anno::display_name("WYZ from float4"), + anno::description("Returns float3(w,y,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11510) +]] +{ return float3( a.w, a.y, a.z); } + +export float3 wyw( float4 a) +[[ + anno::display_name("WYW from float4"), + anno::description("Returns float3(w,y,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11514) +]] +{ return float3( a.w, a.y, a.w); } + +export float3 wzx( float4 a) +[[ + anno::display_name("WZX from float4"), + anno::description("Returns float3(w,z,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11518) +]] +{ return float3( a.w, a.z, a.x); } + +export float3 wzy( float4 a) +[[ + anno::display_name("WZY from float4"), + anno::description("Returns float3(w,z,y) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11521) +]] +{ return float3( a.w, a.z, a.y); } + +export float3 wzz( float4 a) +[[ + anno::display_name("WZZ from float4"), + anno::description("Returns float3(w,z,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11524) +]] +{ return float3( a.w, a.z, a.z); } + +export float3 wzw( float4 a) +[[ + anno::display_name("WZW from float4"), + anno::description("Returns float3(w,z,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11529) +]] +{ return float3( a.w, a.z, a.w); } + +export float3 wwx( float4 a) +[[ + anno::display_name("WWX from float4"), + anno::description("Returns float3(w,w,x) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return float3( a.w, a.w, a.x); } + +export float3 wwy( float4 a) +[[ + anno::display_name("WWY from float4"), + anno::hidden(), + anno::description("Returns float3(w,w,y) from float4."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11537) +]] +{ return float3( a.w, a.w, a.y); } + +export float3 wwz( float4 a) +[[ + anno::display_name("WWZ from float4"), + anno::description("Returns float3(w,w,z) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return float3( a.w, a.w, a.z); } + +export float3 www( float4 a) +[[ + anno::display_name("WWW from float4"), + anno::description("Returns float3(w,w,w) from float4."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11544) +]] +{ return float3( a.w, a.w, a.w); } + +export float3 xxx( color a) +[[ + anno::display_name("XXX from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11203) +]] +{ return xxx( float3(a)); } + +export float3 xxy( color a) +[[ + anno::display_name("XXY from color"), + anno::description("Returns float3(x,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11213) +]] +{ return xxy( float3(a)); } + +export float3 xxz( color a) +[[ + anno::display_name("XXZ from color"), + anno::description("Returns float3(x,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11223) +]] +{ return xxz( float3(a)); } + +export float3 xyx( color a) +[[ + anno::display_name("XYX from color"), + anno::description("Returns float3(x,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11233) +]] +{ return xyx( float3(a)); } + +export float3 xyy( color a) +[[ + anno::display_name("XYY from color"), + anno::description("Returns float3(x,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11243) +]] +{ return xyy( float3(a)); } + +export float3 xyz( color a) +[[ + anno::display_name("XYZ from color"), + anno::description("Returns float3(x,y,z) from color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11292) +]] +{ return xyz( float3(a)); } + +export float3 xzx( color a) +[[ + anno::display_name("XZX from color"), + anno::description("Returns float3(x,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11302) +]] +{ return xzx( float3(a)); } + +export float3 xzy( color a) +[[ + anno::display_name("XZY from color"), + anno::description("Returns float3(x,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11312) +]] +{ return xzy( float3(a)); } + +export float3 xzz( color a) +[[ + anno::display_name("XZZ from color"), + anno::description("Returns float3(x,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11323) +]] +{ return xzz( float3(a)); } + +export float3 yxx( color a) +[[ + anno::display_name("YXX from color"), + anno::description("Returns float3(y,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11253) +]] +{ return yxx( float3(a)); } + +export float3 yxy( color a) +[[ + anno::display_name("YXY from color"), + anno::description("Returns float3(y,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11263) +]] +{ return yxy( float3(a)); } + +export float3 yxz( color a) +[[ + anno::display_name("YXZ from color"), + anno::description("Returns float3(y,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11332) +]] +{ return yxz( float3(a)); } + +export float3 yyx( color a) +[[ + anno::display_name("YYX from color"), + anno::description("Returns float3(y,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11273) +]] +{ return yyx( float3(a)); } + +export float3 yyy( color a) +[[ + anno::display_name("YYY from color"), + anno::description("Returns float3(y,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11283) +]] +{ return yyy( float3(a)); } + +export float3 yyz( color a) +[[ + anno::display_name("YYZ from color"), + anno::description("Returns float3(y,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11342) +]] +{ return yyz( float3(a)); } + +export float3 yzx( color a) +[[ + anno::display_name("YZX from color"), + anno::description("Returns float3(y,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11352) +]] +{ return yzx( float3(a)); } + +export float3 yzy( color a) +[[ + anno::display_name("YZY from color"), + anno::description("Returns float3(y,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11362) +]] +{ return yzy( float3(a)); } + +export float3 yzz( color a) +[[ + anno::display_name("YZZ from color"), + anno::description("Returns float3(y,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11372) +]] +{ return yzz( float3(a)); } + +export float3 zxx( color a) +[[ + anno::display_name("ZXX from color"), + anno::description("Returns float3(z,x,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11382) +]] +{ return zxx( float3(a)); } + +export float3 zxy( color a) +[[ + anno::display_name("ZXY from color"), + anno::description("Returns float3(z,x,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11392) +]] +{ return zxy( float3(a)); } + +export float3 zxz( color a) +[[ + anno::display_name("ZXZ from color"), + anno::description("Returns float3(z,x,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11402) +]] +{ return zxz( float3(a)); } + +export float3 zyx( color a) +[[ + anno::display_name("ZYX from color"), + anno::description("Returns float3(z,y,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11412) +]] +{ return zyx( float3(a)); } + +export float3 zyy( color a) +[[ + anno::display_name("ZYY from color"), + anno::description("Returns float3(z,y,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11422) +]] +{ return zyy( float3(a)); } + +export float3 zyz( color a) +[[ + anno::display_name("ZYZ from color"), + anno::description("Returns float3(z,y,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11432) +]] +{ return zyz( float3(a)); } + +export float3 zzx( color a) +[[ + anno::display_name("ZZX from color"), + anno::description("Returns float3(z,z,x) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11442) +]] +{ return zzx( float3(a)); } + +export float3 zzy( color a) +[[ + anno::display_name("ZZY from color"), + anno::description("Returns float3(z,z,y) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11452) +]] +{ return zzy( float3(a)); } + +export float3 zzz( color a) +[[ + anno::display_name("ZZZ from color"), + anno::description("Returns float3(z,z,z) from color."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11462) +]] +{ return zzz( float3(a)); } + +export float3 xxx( texture_return a) +[[ + anno::display_name("XXX from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11204) +]] +{ return xxx(texture_return_float4(a)); } + +export float3 xxy( texture_return a) +[[ + anno::display_name("XXY from texture_return"), + anno::description("Returns float3(x,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11214) +]] +{ return xxy(texture_return_float4(a)); } + +export float3 xxz( texture_return a) +[[ + anno::display_name("XXZ from texture_return"), + anno::description("Returns float3(x,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11224) +]] +{ return xxz(texture_return_float4(a)); } + +export float3 xxw( texture_return a) +[[ + anno::display_name("XXW from texture_return"), + anno::description("Returns float3(x,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11229) +]] +{ return xxw(texture_return_float4(a)); } + +export float3 xyx( texture_return a) +[[ + anno::display_name("XYX from texture_return"), + anno::description("Returns float3(x,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11234) +]] +{ return xyx(texture_return_float4(a)); } + +export float3 xyy( texture_return a) +[[ + anno::display_name("XYY from texture_return"), + anno::description("Returns float3(x,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11244) +]] +{ return xyy(texture_return_float4(a)); } + +export float3 xyz( texture_return a) +[[ + anno::display_name("XYZ from texture_return"), + anno::description("Returns float3(x,y,z) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11293) +]] +{ return xyz(texture_return_float4(a)); } + +export float3 xyw( texture_return a) +[[ + anno::display_name("XYW from texture_return"), + anno::description("Returns float3(x,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11296) +]] +{ return xyw(texture_return_float4(a)); } + +export float3 xzx( texture_return a) +[[ + anno::display_name("XZX from texture_return"), + anno::description("Returns float3(x,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11303) +]] +{ return xzx(texture_return_float4(a)); } + +export float3 xzy( texture_return a) +[[ + anno::display_name("XZY from texture_return"), + anno::description("Returns float3(x,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1131) +]] +{ return xzy(texture_return_float4(a)); } + +export float3 xzz( texture_return a) +[[ + anno::display_name("XZZ from texture_return"), + anno::description("Returns float3(x,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11321) +]] +{ return xzz(texture_return_float4(a)); } + +export float3 xzw( texture_return a) +[[ + anno::display_name("XZW from texture_return"), + anno::description("Returns float3(x,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11601) +]] +{ return xzw(texture_return_float4(a)); } + +export float3 xwx( texture_return a) +[[ + anno::display_name("XWX from texture_return"), + anno::description("Returns float3(x,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11605) +]] +{ return xwx(texture_return_float4(a)); } + +export float3 xwy( texture_return a) +[[ + anno::display_name("XWY from texture_return"), + anno::description("Returns float3(x,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11609) +]] +{ return xwy(texture_return_float4(a)); } + +export float3 xwz( texture_return a) +[[ + anno::display_name("XWZ from texture_return"), + anno::description("Returns float3(x,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11613) +]] +{ return xwz(texture_return_float4(a)); } + +export float3 xww( texture_return a) +[[ + anno::display_name("XWW from texture_return"), + anno::description("Returns float3(x,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11617) +]] +{ return xww(texture_return_float4(a)); } + +export float3 yxx( texture_return a) +[[ + anno::display_name("YXX from texture_return"), + anno::description("Returns float3(y,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11254) +]] +{ return yxx(texture_return_float4(a)); } + +export float3 yxy( texture_return a) +[[ + anno::display_name("YXY from texture_return"), + anno::description("Returns float3(y,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11264) +]] +{ return yxy(texture_return_float4(a)); } + +export float3 yxz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11333) +]] +{ return yxz(texture_return_float4(a)); } + +export float3 yxw( texture_return a) +[[ + anno::display_name("YXW from texture_return"), + anno::description("Returns float3(y,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11631) +]] +{ return yxw(texture_return_float4(a)); } + +export float3 yyx( texture_return a) +[[ + anno::display_name("YYX from texture_return"), + anno::description("Returns float3(y,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11274) +]] +{ return yyx(texture_return_float4(a)); } + +export float3 yyy( texture_return a) +[[ + anno::display_name("YYY from texture_return"), + anno::description("Returns float3(y,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11284) +]] +{ return yyy(texture_return_float4(a)); } + +export float3 yyz( texture_return a) +[[ + anno::display_name("YYZ from texture_return"), + anno::description("Returns float3(y,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11344) +]] +{ return yyz(texture_return_float4(a)); } + +export float3 yyw( texture_return a) +[[ + anno::display_name("YYW from texture_return"), + anno::description("Returns float3(y,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11641) +]] +{ return yyw(texture_return_float4(a)); } + +export float3 yzx( texture_return a) +[[ + anno::display_name("YZX from texture_return"), + anno::description("Returns float3(y,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11354) +]] +{ return yzx(texture_return_float4(a)); } + +export float3 yzy( texture_return a) +[[ + anno::display_name("YZY from texture_return"), + anno::description("Returns float3(y,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11363) +]] +{ return yzy(texture_return_float4(a)); } + +export float3 yzz( texture_return a) +[[ + anno::display_name("YZZ from texture_return"), + anno::description("Returns float3(y,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11373) +]] +{ return yzz(texture_return_float4(a)); } + +export float3 yzw( texture_return a) +[[ + anno::display_name("YZW from texture_return"), + anno::description("Returns float3(y,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11651) +]] +{ return yzw(texture_return_float4(a)); } + +export float3 ywx( texture_return a) +[[ + anno::display_name("YWX from texture_return"), + anno::description("Returns float3(y,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11654) +]] +{ return ywx(texture_return_float4(a)); } + +export float3 ywy( texture_return a) +[[ + anno::display_name("YWY from texture_return"), + anno::description("Returns float3(y,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11657) +]] +{ return ywy(texture_return_float4(a)); } + +export float3 ywz( texture_return a) +[[ + anno::display_name("YXZ from texture_return"), + anno::description("Returns float3(y,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11659) +]] +{ return ywz(texture_return_float4(a)); } + +export float3 yww( texture_return a) +[[ + anno::display_name("YWW from texture_return"), + anno::description("Returns float3(y,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11662) +]] +{ return yww(texture_return_float4(a)); } + +export float3 zxx( texture_return a) +[[ + anno::display_name("ZXX from texture_return"), + anno::description("Returns float3(z,x,x) from texture_return."), + anno::author("NVIDIA Corporation"), + anno::hidden(), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11383) +]] +{ return zxx(texture_return_float4(a)); } + +export float3 zxy( texture_return a) +[[ + anno::display_name("ZXY from texture_return"), + anno::description("Returns float3(z,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11394) +]] +{ return zxy(texture_return_float4(a)); } + +export float3 zxz( texture_return a) +[[ + anno::display_name("ZXZ from texture_return"), + anno::description("Returns float3(z,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11403) +]] +{ return zxz(texture_return_float4(a)); } + +export float3 zxw( texture_return a) +[[ + anno::display_name("ZXW from texture_return"), + anno::description("Returns float3(z,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11672) +]] +{ return zxw(texture_return_float4(a)); } + +export float3 zyx( texture_return a) +[[ + anno::display_name("ZYX from texture_return"), + anno::description("Returns float3(z,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11413) +]] +{ return zyx(texture_return_float4(a)); } + +export float3 zyy( texture_return a) +[[ + anno::display_name("ZYY from texture_return"), + anno::description("Returns float3(z,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11423) +]] +{ return zyy(texture_return_float4(a)); } + +export float3 zyz( texture_return a) +[[ + anno::display_name("ZYZ from texture_return"), + anno::description("Returns float3(z,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyz(texture_return_float4(a)); } + +export float3 zyw( texture_return a) +[[ + anno::display_name("ZYW from texture_return"), + anno::description("Returns float3(z,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11433) +]] +{ return zyw(texture_return_float4(a)); } + +export float3 zzx( texture_return a) +[[ + anno::display_name("ZZX from texture_return"), + anno::description("Returns float3(z,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11443) +]] +{ return zzx(texture_return_float4(a)); } + +export float3 zzy( texture_return a) +[[ + anno::display_name("ZZY from texture_return"), + anno::description("Returns float3(z,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11453) +]] +{ return zzy(texture_return_float4(a)); } + +export float3 zzz( texture_return a) +[[ + anno::display_name("ZZZ from texture_return"), + anno::description("Returns float3(z,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11463) +]] +{ return zzz(texture_return_float4(a)); } + +export float3 zzw( texture_return a) +[[ + anno::display_name("ZZW from texture_return"), + anno::description("Returns float3(z,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11466) +]] +{ return zzw(texture_return_float4(a)); } + +export float3 zwx( texture_return a) +[[ + anno::display_name("ZWX from texture_return"), + anno::description("Returns float3(z,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11468) +]] +{ return zwx(texture_return_float4(a)); } + +export float3 zwy( texture_return a) +[[ + anno::display_name("ZWY from texture_return"), + anno::description("Returns float3(z,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11472) +]] +{ return zwy(texture_return_float4(a)); } + +export float3 zwz( texture_return a) +[[ + anno::display_name("ZWZ from texture_return"), + anno::description("Returns float3(z,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11476) +]] +{ return zwz(texture_return_float4(a)); } + +export float3 zww( texture_return a) +[[ + anno::display_name("texture_return.ZWW"), + anno::description("Returns float3(z,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11480) +]] +{ return zww(texture_return_float4(a)); } + +export float3 wxx( texture_return a) +[[ + anno::display_name("WXX from texture_return"), + anno::description("Returns float3(w,x,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11484) +]] +{ return wxx(texture_return_float4(a)); } + +export float3 wxy( texture_return a) +[[ + anno::display_name("WXY from texture_return"), + anno::description("Returns float3(w,x,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11488) +]] +{ return wxy(texture_return_float4(a)); } + +export float3 wxz( texture_return a) +[[ + anno::display_name("WXZ from texture_return"), + anno::description("Returns float3(w,x,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11493) +]] +{ return wxz(texture_return_float4(a)); } + +export float3 wxw( texture_return a) +[[ + anno::display_name("WXW from texture_return"), + anno::description("Returns float3(w,x,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11500) +]] +{ return wxw(texture_return_float4(a)); } + +export float3 wyx( texture_return a) +[[ + anno::display_name("WYX from texture_return"), + anno::description("Returns float3(w,y,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(1150) +]] +{ return wyx(texture_return_float4(a)); } + +export float3 wyy( texture_return a) +[[ + anno::display_name("WYY from texture_return"), + anno::description("Returns float3(w,y,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11508) +]] +{ return wyy(texture_return_float4(a)); } + +export float3 wyz( texture_return a) +[[ + anno::display_name("WYZ from texture_return"), + anno::description("Returns float3(w,y,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11511) +]] +{ return wyz(texture_return_float4(a)); } + +export float3 wyw( texture_return a) +[[ + anno::display_name("WYW from texture_return"), + anno::description("Returns float3(w,y,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11515) +]] +{ return wyw(texture_return_float4(a)); } + +export float3 wzx( texture_return a) +[[ + anno::display_name("WZX from texture_return"), + anno::description("Returns float3(w,z,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11519) +]] +{ return wzx(texture_return_float4(a)); } + +export float3 wzy( texture_return a) +[[ + anno::display_name("WZY from texture_return"), + anno::description("Returns float3(w,z,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11522) +]] +{ return wzy(texture_return_float4(a)); } + +export float3 wzz( texture_return a) +[[ + anno::display_name("WZZ from texture_return"), + anno::description("Returns float3(w,z,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11525) +]] +{ return wzz(texture_return_float4(a)); } + +export float3 wzw( texture_return a) +[[ + anno::display_name("WZW from texture_return"), + anno::description("Returns float3(w,z,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11530) +]] +{ return wzw(texture_return_float4(a)); } + +export float3 wwx( texture_return a) +[[ + anno::display_name("WWWX from texture_return"), + anno::description("Returns float3(w,w,x) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11533) +]] +{ return wwx(texture_return_float4(a)); } + +export float3 wwy( texture_return a) +[[ + anno::display_name("WWY from texture_return"), + anno::description("Returns float3(w,w,y) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11538) +]] +{ return wwy(texture_return_float4(a)); } + +export float3 wwz( texture_return a) +[[ + anno::display_name("WWZ from texture_return"), + anno::description("Returns float3(w,w,z) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11541) +]] +{ return wwz(texture_return_float4(a)); } + +export float3 www( texture_return a) +[[ + anno::display_name("WWW from texture_return"), + anno::description("Returns float3(w,w,w) from texture_return."), + anno::hidden(), + anno::author("NVIDIA Corporation"), + anno::in_group("Channel", "Float3"), + icon(".icons/component_extract.svg"), + anno::ui_order(11545) +]] +{ return www(texture_return_float4(a)); } diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/core_definitions.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/core_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbe3f174c2da2abe2b6aa211510de9128848089c --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/core_definitions.mdl @@ -0,0 +1,5806 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + + +// The "//group ... //endgroup" comments are used during the +// procedural creation of this module's documentation. +mdl 1.8; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::limits::*; +import ::base::*; +import ::tex::*; +import ::anno::*; +export using ::base import texture_return; +export using ::base import mono_mode; +export using ::base import color_layer_mode; +import support_definitions::*; +module [[ + anno::version( 2, 2, 0), + anno::display_name("NVIDIA core definitions") +]]; + +export annotation icon(string path); + +const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; + +//some local functions, dont document + +// https://www.shadertoy.com/view/4djSRW +float2 hash22(float2 p) +{ + float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); + p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); + return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); +} + +// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. +// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. +// https://dept-info.labri.fr/~schlick/DOC/gem2.html +float schlick_gain(float x, float r) +{ + float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch + float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); + return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); +} + +// blend two normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +export float3 blend_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), + anno::soft_range(0.0,1.0) + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), + anno::soft_range(0.0,1.0) + ]] +) +[[ + anno::description("Blend two normals or apply a detail normal map"), + anno::display_name("Blend normals"), + anno::thumbnail(".thumbs/blend_normals.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT)]] +{ + return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); +} +// blend 3 normals, similar to +// http://blog.selfshadow.com/publications/blending-in-detail/ +//TODO: make public? +float3 blend_3_normals( + float3 base_normal = state::normal() + [[ + anno::description("The base normal") + ]], + float base_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") + ]], + float3 detail_normal = state::normal() + [[ + anno::description("The detail normal") + ]], + float detail_normal_weight = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]], + float3 detail_normal2 = state::normal() + [[ + anno::description("The detail normal2") + ]], + float detail_normal_weight2 = 1.0f + [[ + anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") + ]] +) +[[ + anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), + anno::noinline() +]] +{ + float3 tu = state::texture_tangent_u(0); + float3 tv = state::texture_tangent_v(0); + float3 n = state::normal(); + + float w1 = math::saturate(base_normal_weight); + float w2 = math::saturate(detail_normal_weight); + float w3 = math::saturate(detail_normal_weight2); + + float3 n1_t = math::normalize( + float3(math::dot(tu, base_normal) * w1, + math::dot(tv, base_normal) * w1, + math::dot(n, base_normal) * w1 + 1.0f - w1)); + float3 n2_t = math::normalize( + float3(math::dot(tu, detail_normal) * w2, + math::dot(tv, detail_normal) * w2, + math::dot(n, detail_normal) * w2 + 1.0f - w2)); + float3 n3_t = math::normalize( + float3(math::dot(tu, detail_normal2) * w3, + math::dot(tv, detail_normal2) * w3, + math::dot(n, detail_normal2) * w3 + 1.0f - w3)); + + n1_t.z += 1.0f; + n2_t.x = -n2_t.x; + n2_t.y = -n2_t.y; + + float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; + + n12_t.z+= 1.0f; + n3_t.x = -n3_t.x; + n3_t.y = -n3_t.y; + float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; + + return math::normalize( + tu * n_t.x + + tv * n_t.y + + n * n_t.z); +} + +// blend 3 normals by blending the gradients +// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of +// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 +// http://jcgt.org/published/0009/03/04/ +float3 gradient_blend_3_normals( + float3 normal1 = state::normal(), + float normal1_weight = 1.0, + float3 normal2 = state::normal(), + float normal2_weight = 1.0, + float3 normal3 = state::normal(), + float normal3_weight = 1.0 +) +{ + float w1 = math::saturate(normal1_weight); + float w2 = math::saturate(normal2_weight); + float w3 = math::saturate(normal3_weight); + + // normal to gradient + float3 n = state::normal(); + float d1 = math::dot(n, normal1); + float d2 = math::dot(n, normal2); + float d3 = math::dot(n, normal3); + float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); + float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); + float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); + + // blend + float3 gg = w1 * g1 + w2 * g2 + w3 * g3; + + // gradient to normal + return math::normalize(n - gg); +} + +struct complex_ior +{ + color n; //refractive index + color k; //extinction coefficient +}; + + +//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. +complex_ior artistic_metal_to_complex_ior( + color reflectivity, + color edge_tint) +{ + float epsilon = 1.e-2; + color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); + color g = edge_tint; + + color r_sqrt = math::sqrt(r); + color n_min = (1.0f - r) / (1.0f + r); + color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); + + color n = math::lerp(n_max, n_min, g); + + color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); + k2 = math::max(k2, 0.0f); + color k = math::sqrt(k2); + + return complex_ior(n, k); +} + + + +float3x3 axis_rotation_matrix(float3 a, float r) +{ + float[2] sc = math::sincos(r); + float s = sc[0]; + float c = sc[1]; + float omc = 1.0 - c; + return float3x3( + a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, + a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, + a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c + ); +} +float3 transform_rotate(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return p*rotate; + +} +float3 transform_rotate_inv(float3 p, float3 r) +{ + // Euler rotation matrix xyz order to stay compatible with ::base + float3 s = math::sin(r); + float3 c = math::cos(r); + float3x3 rotate = + float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , + -s.y , s.x*c.y , c.x*c.y ); + return rotate*p; + +} + +//group Enumerations + +export enum material_type +[[ + anno::display_name("User interface group"), + anno::description("User interface grouping hint for materials"), + anno::hidden() +]] +{ + simple_material + [[ anno::description("Simple material") ]], + complex_material + [[ anno::description("Complex material") ]], + combiner_material + [[ anno::description("Combiner material") ]], + modifier_material + [[ anno::description("Material modifier") ]] +}; + +export enum emission_type +[[ + anno::display_name("Emission mode"), + anno::description("Emission mode definition for light sources"), + anno::hidden() +]] +{ + lumen_m2 + [[ anno::description("lumen/m2") ]], + lumen + [[ anno::description("lumen") ]], + candela + [[ anno::description("candela") ]], + nit + [[ anno::description("nit (candela/m2)") ]] +}; + +export enum cell_type +[[ + anno::display_name("Worley noise cell type"), + anno::description("Behavior of the Worley noise cell"), + anno::hidden() +]] +{ + simple_cells = 0 + [[ anno::description("Simple cells") ]], + crystal_cells = 1 + [[ anno::description("Crystal cells") ]], + bordered_cells = 2 + [[ anno::description("Bordered cells") ]] +}; + +export enum cell_base +[[ + anno::display_name("Worley noise cell shape"), + anno::description("Shape of the Worley noise cell"), + anno::hidden() +]] +{ + circular_cells = 0 + [[ anno::description("Circle base") ]], + diamond_cells = 1 + [[ anno::description("Diamond base") ]] +}; + +export enum displacement_vector_space +[[ + anno::display_name("Displacement mode"), + anno::description("Displacement Mode"), + anno::hidden() +]] +{ + // displacement_height = 0 // reserve this for now + // [[ anno::display_name("Height") ]], + + displacement_vector_tangent_space = 1 + [[ anno::display_name("Vector, Tangent Space") ]], + + displacement_vector_object_space = 2 + [[ anno::display_name("Vector, Object Space") ]], + + displacement_vector_world_space = 3 + [[ anno::display_name("Vector, World Space") ]] +}; + +//endgroup + +float3 transform_displacement_vector( + float3 displacement = float3(0.0) + [[ anno::description("Displacement vector") ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ anno::description("Space of the displacement vector") ]], + float scale = 1.0f + [[ anno::description("Displacement scale") ]] +) +[[ + anno::description("Transform input displacement vector to dispacement offset"), + anno::hidden() +]] +{ + float3 result; + switch (space) + { + // case displacement_height: + // result = state::normal() * displacement * scale; + // break; + + case displacement_vector_tangent_space: + result = state::texture_tangent_u(0) * displacement[0] * scale + + state::texture_tangent_v(0) * displacement[2] * scale + + state::normal() * displacement[1] * scale; + break; + + case displacement_vector_object_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_object, + displacement * scale + ); + break; + + case displacement_vector_world_space: + result = state::transform_point( + state::coordinate_internal, + state::coordinate_world, + displacement * scale + ); + break; + + default: + result = state::position(); + break; + } + + return result; +} + +float4x4 rotation_translation_scale( + float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale"), + anno::hidden() +]] +{ + float4x4 scale = + float4x4(scaling.x , 0. , 0. , 0., + 0. , scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + translation.x , translation.y , translation.z , 1.); + + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, + c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, + -s.y , s.x*c.y , c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + + return scale*rotate; +} + +export annotation suitable_as_light(); +export annotation type_of_material(material_type type); +export annotation dimension(float dimension); +export annotation dimension(float2 dimension); +export annotation dimension(float3 dimension); + + +//group Texturing functions + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +blend_colors( + color color_1 = color(0.0) + [[ anno::display_name("Color 1") ]], + color color_2 = color(1.0) + [[ anno::display_name("Color 2") ]], + uniform color_layer_mode mode = color_layer_blend + [[ + anno::description("Describes how Color 1 and Color 2 are combined"), + anno::display_name("Blend mode") + ]], + float weight = 1. + [[ + anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), + anno::display_name("Blend weight"), + anno::soft_range(0.0,1.0) + ]], + uniform bool linear_blend = true + [[ + anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), + anno::display_name("Linear blend") + ]] +) +[[ + anno::display_name("Blend colors"), + anno::description("Allows combining textures and colors in varied ways"), + anno::thumbnail(".thumbs/blend_colors.png"), + anno::in_group("Texturing", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(33), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + color c1 = linear_blend? color_1: math::pow(color_1,0.45); + color c2 = linear_blend? color_2: math::pow(color_2,0.45); + float w = linear_blend? weight: math::pow(weight,0.45); + texture_return r = base::blend_color_layers( + layers: base::color_layer[]( + base::color_layer( + layer_color: c2, + weight: w, + mode: mode + )), + base: c1 + ); + return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(0) + ]], + uniform mono_mode mono_source = mono_average + [[ + anno::display_name("Scalar mode"), + anno::description("Defines how the texture applies to scalar parameters"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(1) + ]], + uniform float brightness = 1. + [[ + anno::display_name("Brightness"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0) + ]], + uniform float contrast = 1. + [[ + anno::display_name("Contrast"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(5) + ]], + uniform bool invert = false + [[ + anno::description("Invert image"), + anno::display_name("Invert image"), + anno::in_group("Bitmap parameters"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return invert == false? base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(0.5*brightness-0.5*contrast*brightness), + color_scale: color(brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ): base::file_texture( + texture: texture, + mono_source: mono_source, + color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), + color_scale: color(-brightness*contrast), + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clip:tex::wrap_repeat + ); +} +export color triplanar_file_texture( + uniform texture_2d texture_1 + [[ + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4), + anno::description("Optional texture used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::description("Optional texture used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::hard_range(0.0,1.0) + ]], + uniform color mean = color(0.0) + [[ + anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), + anno::display_name("Mean color"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15), + anno::hard_range(color(0.0),color(1.0)) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]] +) +[[ + anno::display_name("Triplanar Bitmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(30), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position = state::transform_point(state::coordinate_internal, space, state::position()); + //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) + normal = transform_rotate(normal, math::radians(rotate_origin)); + position = transform_rotate(position, math::radians(rotate_origin)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + //weights = math::saturate(weights-float3(1.-blend_range)); + + weights /=float3(weights.x+weights.y+weights.z); + + + float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + + color c1 = weights.x>0? + support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) + :color(0.); + color c2 = weights.y>0? tex::texture_isvalid(texture_2)? + support_definitions::lookup_color( + texture_2, + support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) + :color(0.); + color c3 = weights.z>0? tex::texture_isvalid(texture_3)? + support_definitions::lookup_color( + texture_3, + support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) + :support_definitions::lookup_color( + texture_1, + support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) + :color(0.); + return mean == color(0.0)? + c1*weights.x + c2*weights.y+ c3*weights.z: + support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +perlin_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Perlin noise texture"), + anno::description("Enable texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(34), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_texture( + color1: color1, + color2: color2, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 perlin_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,5.0), + anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(3) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Perlin noise texture -- bump mapping"), + anno::description("Enable bump-map texturing with a random noise pattern"), + anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Perlin"), + icon(".icons/perlin_noise_texture.svg"), + anno::ui_order(35), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::perlin_noise_bump_texture( + factor: factor, + noise_levels: noise_levels, + absolute_noise: absolute_noise, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +worley_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space") , + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + uniform cell_type mode = simple_cells + [[ + anno::display_name("Cell type") , + anno::description("Cell pattern type"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(10) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(9) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]]) +[[ + anno::display_name("Cellular noise texture"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(36), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_texture( + color1: color1, + color2: color2, + mode: mode==crystal_cells?2:mode==bordered_cells?3:0, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 worley_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") + ]], + uniform cell_base metric = circular_cells + [[ + anno::display_name("Cell shape") , + anno::description("The shape of the cell form"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = true + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(5) + ]], + uniform float noise_threshold_high = 1. + [[ + anno::hard_range(0.0,1.), + anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), + anno::display_name("Upper threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(3) + ]], + uniform float noise_threshold_low = 0. + [[ + anno::hard_range(0.0,1.), + anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), + anno::display_name("Lower threshold"), + anno::in_group("Noise parameters"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(8) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(7) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(6) + ]]) +[[ + anno::display_name("Cellular noise texture -- bump mapping"), + anno::description("Allow texturing with a cell forming pattern"), + anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Worley"), + icon(".icons/cellular_noise_texture.svg"), + anno::ui_order(37), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::worley_noise_bump_texture( + factor: factor, + metric: metric, + noise_threshold_high: noise_threshold_high, + noise_threshold_low: noise_threshold_low, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +flow_noise_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + uniform int noise_levels = 3 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3) + + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4) + + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the third dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9), + anno::soft_range(0.0,1.0) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(15) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(14) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(13) + ]]) +[[ + anno::display_name("Flow noise texture"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(38), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_texture( + color1: color1, + color2: color2, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 flow_noise_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(12) + ]], + uniform int noise_levels = 1 + [[ + anno::description("Higher amounts will add detail to the noise"), + anno::display_name("Levels"), + anno::hard_range(1,6), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(1) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(8) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(9) + ]], + uniform bool absolute_noise = false + [[ + anno::display_name("Billowing appearance"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(2), + anno::description("Enables billowing noise by folding negative noise values into the positive range.") + ]], + uniform float phase = 0.0 + [[ + anno::display_name("Phase offset"), + anno::description("Controls the 3rd dimension of the function"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,1.0) + ]], + uniform float level_gain = 0.5 + [[ + anno::display_name("Level intensity gain"), + anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(4), + anno::soft_range(0.0,1.0) + ]], + uniform float level_scale = 2.0 + [[ + anno::display_name("Level scaling"), + anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(5), + anno::soft_range(0.0,4.0) + ]], + uniform float level_progressive_u_scale = 1. + [[ + anno::display_name("Progressive u scale"), + anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,1.0) + ]], + uniform float level_progressive_v_motion = 0. + [[ + anno::display_name("Progressive v offset"), + anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), + anno::in_group("Noise parameters"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(7), + anno::soft_range(0.0,1.0) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(11) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(10) + ]] +) +[[ + anno::display_name("Flow noise texture -- bump mapping"), + anno::description("Allow texturing with a 2D noise pattern suitable for waves"), + anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), + anno::in_group("Texturing", "Noise", "Flow"), + icon(".icons/flow_noise_texture.svg"), + anno::ui_order(39), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::flow_noise_bump_texture( + factor: factor, + levels: noise_levels, + phase: phase, + level_gain: level_gain, + level_scale: level_scale, + level_progressive_u_scale: level_progressive_u_scale, + level_progressive_v_motion: level_progressive_v_motion, + absolute_noise: absolute_noise, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export texture_return +[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] +checker_texture( + color color1 = color(1.) + [[ + anno::display_name("Color 1"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0) + ]], + color color2 = color(0.) + [[ + anno::display_name("Color 2"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(7) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("3D checker texture"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(40), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_texture( + color1: color1, + color2: color2, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 checker_bump_texture( + uniform float factor = 1. + [[ + anno::display_name("Bump strength"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(0), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the checker pattern.") + ]], + uniform float blur = 0 + [[ + anno::hard_range(0.0,1.0), + anno::display_name("Blur"), + anno::in_group("Checker parameters"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(1), + anno::description("Amount of softening applied to checker cell boundaries.") + ]], + uniform bool object_space = false + [[ + anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(2) + ]], + float3 scaling = float3(10.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(6) + ]], + float3 translation = float3(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(5) + ]], + float3 rotation = float3(0.) + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(4) + ]], + uniform int texture_space = 0 + [[ + anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(3) + ]] +) +[[ + anno::display_name("3D checker texture -- bump mapping"), + anno::description("Allows texturing a checkerboard pattern"), + anno::thumbnail(".thumbs/checker_bump_texture.png"), + anno::in_group("Texturing", "Checker"), + icon(".icons/checker_3d_texture.svg"), + anno::ui_order(41), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::checker_bump_texture( + factor: factor, + blur: blur/4., + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, + translation: translation, + rotation: math::radians(rotation) + ), + coordinate: object_space? + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + base::coordinate_source(texture_space: texture_space) + ) + ); +} + +export float3 file_bump_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Bitmap texture used as the bump source.") + ]], + uniform mono_mode bump_source = mono_average + [[ + anno::display_name("Bump mode"), + anno::description("Defines how the texture is evaluated to create the bumps"), + anno::in_group("Bitmap parameters"), + anno::ui_order(2) + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), + anno::display_name("Clip"), + anno::in_group("Placement"), + anno::ui_order(5) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Bump strength"), + anno::in_group("Bitmap parameters"), + anno::ui_order(3), + anno::soft_range(0.0,1.0), + anno::description("Overall bump intensity applied to the sampled bitmap bump values.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + anno::ui_order(4) + ]] +) +[[ + anno::display_name("Bitmap texture, bump"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_bump_texture.png"), + anno::in_group("Texturing"), + icon(".icons/bitmap_texture.svg"), + anno::ui_order(31), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::file_bump_texture( + texture: texture, + bump_source: bump_source, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + clip: clip + ); +} + +export float3 normalmap_texture( + uniform texture_2d texture + [[ + anno::display_name("Normalmap file"), + anno::in_group("Normalmap parameters"), + icon(".icons/normal_map_texture.svg"), + anno::usage("normal"), + anno::ui_order(1), + anno::description("Tangent-space normal map texture.") + ]], + float2 scaling = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(8) + ]], + float2 translation = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(7) + ]], + float rotation = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6), + anno::soft_range(0.0,360.0) + ]], + uniform bool clip = false + [[ + anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), + anno::display_name("Clip"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(4) + + ]], + uniform float factor = 1 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(2), + anno::soft_range(0.0,1.0), + anno::description("Strength multiplier applied to the sampled normal-map perturbation.") + ]], + uniform int texture_space = 0 + [[ + anno::description("Selects a specific UV space"), + anno::display_name("UV space index"), + anno::hard_range(0,3), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(3) + ]], + uniform bool flip = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("Placement"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(6) + ]] +) +[[ + anno::display_name("Normal map texture"), + anno::description("Allows the use of tangent space normal maps"), + anno::thumbnail(".thumbs/normalmap_texture.png"), + anno::in_group("Texturing"), + icon(".icons/normal_map_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + return base::tangent_space_normal_texture( + texture: texture, + factor: factor, + uvw: base::transform_coordinate( + transform: rotation_translation_scale( + scaling: float3(scaling.x, scaling.y, 1.0), + rotation: float3(0.0, 0.0, math::radians(rotation) ), + translation: float3(translation.x, translation.y, 0.0) + ), + coordinate: base::coordinate_source(texture_space: texture_space) + ), + wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, + wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, + flip_tangent_v: flip, + clip: clip + ); +} +export float3 triplanar_normalmap_texture( + uniform texture_2d texture_1 + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(0), + anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") + ]], + float2 scaling_1 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(1) + ]], + float2 translation_1 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(2) + ]], + float rotation_1 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(3), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_1 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("1st Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(4) + ]], + uniform texture_2d texture_2 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::usage("normal"), + anno::ui_order(4), + anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") + ]], + float2 scaling_2 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(5) + ]], + float2 translation_2 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::ui_order(6) + ]], + float rotation_2 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(7), + anno::enable_if( "tex::texture_isvalid(texture_2)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_2 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("2nd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8) + ]], + uniform texture_2d texture_3 = texture_2d() + [[ + anno::display_name("Bitmap file"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(8), + anno::usage("normal"), + anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") + ]], + float2 scaling_3 = float2(1.) + [[ + anno::description("Controls the scale of the texture on the object"), + anno::display_name("Tiling"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(9) + ]], + float2 translation_3 = float2(0.) + [[ + anno::description("Controls position of the texture on the object"), + anno::display_name("Offset"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::ui_order(10) + ]], + float rotation_3 = 0. + [[ + anno::description("Rotation angle of the texture in degrees"), + anno::display_name("Rotation"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(11), + anno::enable_if( "tex::texture_isvalid(texture_3)" ), + anno::soft_range(0.0,360.0) + ]], + uniform bool flip_3 = false + [[ + anno::description("Flip handedness of the tangent space"), + anno::display_name("Flip V"), + anno::in_group("3rd Bitmap parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(12) + ]], + float blend_range = 0.5 + [[ + anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), + anno::display_name("Blend range"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(13), + anno::hard_range(0.0,1.0) + ]], + float strength = 1.0 + [[ + anno::description("Overall strength of the normalmap"), + anno::display_name("Strength"), + anno::in_group("Common parameters"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(14), + anno::soft_range(0.0,10.0) + ]], + uniform float3 rotate_origin = float3(0.0) + [[ + anno::description("Allows manual alignment of the projection with an object"), + anno::display_name("Rotation of origin"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(16), + anno::soft_range(float3(0.0),float3(360.0)) + ]], + uniform bool object_space = true + [[ + anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), + anno::display_name("Use object space"), + anno::in_group("Placement"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Triplanar Normalmap texture"), + anno::description("Allows texturing using image files of various file formats"), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Triplanar"), + icon(".icons/triplanar_texture.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; + + float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); + float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); + float3 rotation_origin_rad = math::radians(rotate_origin); + normal = transform_rotate(normal, rotation_origin_rad); + float3 position = transform_rotate(position_original, rotation_origin_rad); + float3 ty = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); + float3 tz = + math::normalize( + transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); + + float3 weights = math::abs(normal); + + //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up + weights /=math::max_value(weights); + weights = math::pow(weights,1./math::max(blend_range, 0.001)); + + + + float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); + float3 ts = math::normalize(math::cross(state::normal(),tz)); + float3 tt1 = math::normalize(math::cross(state::normal(),ts)); + + float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); + + float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); + float3 ts3 = math::normalize(math::cross(state::normal(),ty)); + float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); + + tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; + float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; + tt1 = flip_1? -tt1: tt1; + + float rotation_1_rad = math::radians(rotation_1); + float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); + float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? + (support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength); + n1 = math::normalize( + ts * tan_rotation_mat_1 * n1.x + + tt1 * tan_rotation_mat_1 * n1.y + + state::normal() * (n1.z + (1.0 - strength))); + + float rotation_2_rad = math::radians(rotation_2); + float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) + ? axis_rotation_matrix(state::normal(), -rotation_2_rad) + : tan_rotation_mat_1; + float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? + (support_definitions::lookup_float3( + texture_2, + support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n2 = math::normalize( + ts * tan_rotation_mat_2 * n2.x + + tt2 * tan_rotation_mat_2 * n2.y + + state::normal() * (n2.z + (1.0 - strength))); + + float rotation_3_rad = math::radians(rotation_3); + float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) + ? axis_rotation_matrix(state::normal(), -rotation_3_rad) + : tan_rotation_mat_1; + float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? + (support_definitions::lookup_float3( + texture_3, + support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) + :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( + texture_1, + support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) + :float3(0.,0.,strength):float3(0.,0.,strength); + n3 = math::normalize( + ts3 * tan_rotation_mat_3 * n3.x + + tt3 * tan_rotation_mat_3 * n3.y + + state::normal() * (n3.z + (1.0 - strength))); + + return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); +} + +// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics +// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 +// http://jcgt.org/published/0011/03/05/ +struct hextile_data { + float2 coord1; + float2 coord2; + float2 coord3; + float3 weights; + float3x3 tangent_rot_mat1; + float3x3 tangent_rot_mat2; + float3x3 tangent_rot_mat3; +}; + +hextile_data hextile_coord( + float2 coord, + float rotation, + float2 rotation_range, + float scale, + float2 scale_range, + float offset, + float2 offset_range) +{ + float sqrt3_2 = math::sqrt(3.0) * 2.0; + + // scale coord to maintain the original fit + float2 st = coord * sqrt3_2; + + // skew input space into simplex triangle grid + // (1, 0, -tan(30), 2*tan(30)) + float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); + float2 st_skewed = to_skewed * st; + + // barycentric weights + float2 st_frac = math::frac(st_skewed); + float3 temp = float3(st_frac.x, st_frac.y, 0.0); + temp.z = 1.0 - temp.x - temp.y; + + float s = math::step(0.0, -temp.z); + float s2 = 2.0 * s - 1.0; + + float w1 = -temp.z * s2; + float w2 = s - temp.y * s2; + float w3 = s - temp.x * s2; + + // vertex IDs + int2 base_id = int2(math::floor(st_skewed)); + int si = int(s); + int2 id1 = base_id + int2(si, si); + int2 id2 = base_id + int2(si, 1 - si); + int2 id3 = base_id + int2(1 - si, si); + + // tile center + float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); + float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); + float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); + float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); + + // reuse hash for performance + float2 seed_offset = float2(0.12345); // to avoid some zeros + float2 rand1 = hash22(float2(id1) + seed_offset); + float2 rand2 = hash22(float2(id2) + seed_offset); + float2 rand3 = hash22(float2(id3) + seed_offset); + + // randomized rotation matrix + float2 rr = math::radians(rotation_range); + float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); + float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); + float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); + float[2] sc1 = math::sincos(rrr1); + float[2] sc2 = math::sincos(rrr2); + float[2] sc3 = math::sincos(rrr3); + float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); + float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); + float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); + + // rotation matrix for tangent vectors + float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); + float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); + float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); + + // randomized scale + float2 sr = scale_range; + float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); + float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); + float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); + + // randomized offset + float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); + float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); + float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); + + // get coord + float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; + float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; + float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; + + hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); + + return tile_data; +} + +export color hextiling_file_texture( + uniform texture_2d texture + [[ + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Bitmap texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + color default_color = color(0.0) + [[ + anno::display_name("Default color"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback color returned when no valid texture is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float falloff_contrast = 0.5 + [[ + anno::display_name("Falloff Contrast"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(11), + anno::description("Controls how strongly luminance influences blending weights.") + ]] +) +[[ + anno::display_name("Hextiling Bitmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_color; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup texture + color c1 = tex::lookup_color(texture, tile_data.coord1); + color c2 = tex::lookup_color(texture, tile_data.coord2); + color c3 = tex::lookup_color(texture, tile_data.coord3); + + // luminance as weight + float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); + cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); + + // blend weights + float3 w = cw * math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + color out_color = w.x * c1 + w.y * c2 + w.z * c3; + + return out_color; +} + +export float3 hextiling_normalmap_texture( + uniform texture_2d texture + [[ + anno::usage("normal"), + anno::display_name("Bitmap file"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(0), + anno::description("Normal map texture sampled by the hextiling algorithm.") + ]], + uniform int texture_space = 0 + [[ + anno::display_name("UV space index"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(1), + anno::description("UV set index used for texture-coordinate lookup.") + ]], + float3 default_normal = state::normal() + [[ + anno::display_name("Default normal"), + anno::in_group("Bitmap parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(2), + anno::description("Fallback normal returned when no valid normal map is provided.") + ]], + float2 repeat = float2(1.0, 1.0) + [[ + anno::display_name("Tiling"), + anno::in_group("Placement"), + icon(".icons/hextiling.svg"), + anno::ui_order(3), + anno::description("UV tiling multiplier applied before hextiling.") + ]], + float rotation = 1.0 + [[ + anno::display_name("Rotation"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(4), + anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") + ]], + float2 rotation_range = float2(0.0, 360.0) + [[ + anno::display_name("Rotation Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(5), + anno::description("Minimum and maximum random rotation in degrees.") + ]], + float scale = 1.0 + [[ + anno::display_name("Scale"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(6), + anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") + ]], + float2 scale_range = float2(0.5, 2.0) + [[ + anno::display_name("Scale Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(7), + anno::description("Minimum and maximum random tile scale.") + ]], + float offset = 1.0 + [[ + anno::display_name("Offset"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(8), + anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") + ]], + float2 offset_range = float2(0.0, 1.0) + [[ + anno::display_name("Offset Range"), + anno::in_group("Randomization"), + icon(".icons/hextiling.svg"), + anno::ui_order(9), + anno::description("Minimum and maximum random UV offset applied per tile.") + ]], + float falloff = 0.5 + [[ + anno::display_name("Falloff"), + anno::in_group("Blending"), + icon(".icons/hextiling.svg"), + anno::soft_range(0.0, 1.0), + anno::ui_order(10), + anno::description("Controls how quickly tile blending transitions between neighboring tiles.") + ]], + float strength = 1.0 + [[ + anno::display_name("Strength"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(11), + anno::soft_range(0.0, 1.0), + anno::description("Strength multiplier applied to sampled normal-map perturbations.") + ]], + uniform bool flip_g = false + [[ + anno::display_name("Flip V"), + anno::in_group("Normal map parameters"), + icon(".icons/hextiling.svg"), + anno::ui_order(12), + anno::description("Flips the green (Y) channel of the sampled normal maps.") + ]] +) +[[ + anno::display_name("Hextiling Normalmap texture"), + anno::description("Allows infinite texturing without obvious repeat patterns."), + anno::thumbnail(".thumbs/file_texture.png"), + anno::in_group("Texturing", "Hextiling"), + icon(".icons/hextiling.svg"), + anno::ui_order(32), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT) +]] +{ + if (!tex::texture_isvalid(texture)) + return default_normal; + + + float3 uvw = state::texture_coordinate(texture_space); + float2 coord = float2(uvw.x, uvw.y) * repeat; + + // get triangle coord + hextile_data tile_data = hextile_coord( + coord: coord, + rotation: rotation, + rotation_range: rotation_range, + scale: scale, + scale_range: scale_range, + offset: offset, + offset_range: offset_range + ); + + // lookup normalmap + float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); + float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); + float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); + nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; + nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; + nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; + + // transform to geometry normals + nm1 = 2.0 * nm1 - 1.0; + nm2 = 2.0 * nm2 - 1.0; + nm3 = 2.0 * nm3 - 1.0; + float3 sn = state::normal(); + float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; + float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; + float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; + float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; + float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; + float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; + float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); + float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); + float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); + + // belnd weights + float3 w = math::pow(tile_data.weights, 7.0); + w /= (w.x + w.y + w.z); + + // apply s-curve gain + if (falloff != 0.5) + { + w.x = schlick_gain(w.x, falloff); + w.y = schlick_gain(w.y, falloff); + w.z = schlick_gain(w.z, falloff); + w /= (w.x + w.y + w.z); + } + + // blend + float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); + + return out_normal; +} + +//endgroup + +//material section----------------------------------------------------------------------------------------------- + +//group Simple materials + +export material diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead a powdery appearance") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple diffuse"), + anno::description("A basic diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(0), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::diffuse_reflection_bsdf( + roughness: roughness, + tint: diffuse_color + ) + ) + ) +); + +export material dusty_diffuse( + color diffuse_color = color(.8) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Dusty diffuse"), + anno::description("A dusty diffuse material"), + anno::thumbnail(".thumbs/diffuse.png"), + anno::in_group("Materials", "Diffuse"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic")) +]] + = material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::dusty_diffuse_reflection_bsdf( + tint: diffuse_color + ) + ) + ) +); + +export material scratched_metal_v2( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::ui_order(1), + anno::description("The color of the metal") + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::ui_order(3), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::ui_order(4), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::ui_order(5), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::ui_order(6), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::ui_order(7), + anno::description("Attach bump or normal maps here") + ]], + color edge_color = color(1.0) + [[ + anno::display_name("Edge color"), + anno::ui_order(2), + anno::description("The color of the metal towards the edge") + ]] +) +[[ + anno::display_name("Metal"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::in_group("Materials"), + anno::ui_order(1), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); + bsdf glossy_bsdf = df::fresnel_factor( + ior: ior.n, + extinction_coefficient: ior.k, + base: df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ) + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic_v2( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.2 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::in_group("Materials"), + anno::ui_order(2), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness*roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material retroreflective( + color base_color = color(.2,.03,.03) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + color reflection_color = color(.8,.8,.03) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the retroreflection"), + anno::ui_order(2) + ]], + float roughness = 0.15 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + float normal_reflectivity = .05 + [[ + anno::display_name("Reflection weight facing"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for geometry facing the viewer"), + anno::ui_order(4) + ]], + float grazing_reflectivity = 1. + [[ + anno::display_name("Reflection weight edge"), + anno::hard_range(0.0,1.), + anno::description("Reflectivity control for the reflectivity at geometry edges"), + anno::ui_order(5) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Retroreflective"), + anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), + anno::thumbnail(".thumbs/retroreflective.png"), + anno::in_group("Materials"), + anno::ui_order(3), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","retroreflective","roadsign","stone")) +]] + = let{ + bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( + tint: reflection_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::custom_curve_layer( + normal_reflectivity: 1.-normal_reflectivity, + grazing_reflectivity: 1.-grazing_reflectivity, + base: glossy_bsdf, + layer: df::diffuse_reflection_bsdf( + roughness: 1.0, + tint: base_color + ), + normal: normal + ) + ) + ) +); + +export material flex_material_v2( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + float is_metal = 0.0 + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.3 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(5), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness*reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness*transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = df::weighted_layer( + is_metal, + df::weighted_layer( + weight: reflectivity, + layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), + base: add_transparency, + normal: normal + ), + df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ) + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass_v2( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(6), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent_v2( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(7), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass_v2( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::in_group("Materials", "Glass"), + anno::ui_order(8), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness*roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent_v2( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::in_group("Materials", "Translucent"), + anno::ui_order(9), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness*roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +//endgroup + +//group Modifier materials + +export material blend( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float weight = 0. + [[ + anno::display_name("Blend weight"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]] +) +[[ + anno::display_name("Blend materials"), + anno::description("Blend characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/blend.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/generic_blend.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = let { + float inv_weight = 1.0f - weight; +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: material_emission( + mode: base.surface.emission.mode, //cant vary + intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), + emission: df::unbounded_mix( + df::edf_component[] + ( + df::edf_component(inv_weight,base.surface.emission.emission), + df::edf_component(weight,blend.surface.emission.emission) + ) + ) + ) + ), + volume: material_volume( + scattering: df::unbounded_mix( + df::vdf_component[] + ( + df::vdf_component(inv_weight,base.volume.scattering), + df::vdf_component(weight,blend.volume.scattering) + ) + ), + absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), + scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), + emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) + + ), + ior: base.ior, //can't vary + thin_walled: base.thin_walled, //can't vary + geometry: material_geometry( + displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), + cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), + normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) + ) +); + +export material twosided( + material front = scratched_plastic_v2() + [[ + anno::display_name("Front material"), + anno::description("The material on the front faces.") + ]], + material back = scratched_metal_v2() + [[ + anno::display_name("Back material"), + anno::description("The material on the back faces.") + ]] +) +[[ + anno::display_name("Two-sided materials"), + anno::description("Allows you to apply a material to front and back surfaces."), + anno::thumbnail(".thumbs/twosided.png"), + anno::in_group("Material modifiers"), + icon(".icons/two_sided_materials.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + thin_walled: true, + ior: front.ior, + surface: front.surface, + backface: back.surface, + geometry: front.geometry +); + +export material surface_falloff( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material the blend is based on") + ]], + material blend = scratched_metal_v2() + [[ + anno::display_name("Blend Material"), + anno::description("Surface properties to use for the blend") + ]], + float facing_weight = 0.0 + [[ + anno::display_name("Blend weight facing"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float edge_weight = 1.0 + [[ + anno::display_name("Blend weight edge"), + anno::hard_range(0.0,1.), + anno::description("Blend weight or mask texture") + ]], + float blend_bias = 1. + [[ + anno::display_name("Blend bias"), + anno::soft_range(0.0,10.), + anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") + ]] +) +[[ + anno::display_name("Surface falloff"), + anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), + anno::thumbnail(".thumbs/surface_falloff.png"), + anno::in_group("Material modifiers", "Blend"), + icon(".icons/surface_falloff.svg"), + anno::ui_order(15), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(combiner_material), + anno::key_words(string[]("combiner","generic")) +]] + = material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: 1., + exponent: blend_bias, + normal_reflectivity: facing_weight, + grazing_reflectivity: edge_weight, + layer: blend.surface.scattering, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_clearcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_clear_coating.svg"), + anno::ui_order(16), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_thinfilm( + material base = scratched_metal_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get shows a thin film effect") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("The IOR of the thin film interface") + ]], + float thickness = 400.0 + [[ + anno::display_name("Thickness"), + anno::soft_range(10.0,5000.0), + anno::description("Thickness of the thin film in nm") + ]] +) +[[ + anno::display_name("Apply thin film"), + anno::description("Apply thin film to an existing material"), + anno::thumbnail(".thumbs/apply_thinfilm.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_film.svg"), + anno::ui_order(17), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::thin_film( + ior: color(ior), + thickness: thickness, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat_v2( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_thin_metal_coating.svg"), + anno::ui_order(18), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness*roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_dustcover( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color dust_color = color(.7) + [[ + anno::display_name("Dust color"), + anno::description("The color of the dust") + ]], + float visibility = 1. + [[ + anno::display_name("Dust density"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the cover") + ]], + uniform float dust_density = .5 + [[ + anno::display_name("Dust amount"), + anno::hard_range(.01,1), + anno::description("How dusty the material is") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Apply a cover of dust"), + anno::description("Apply a diffuse cover of dust or dirt"), + anno::thumbnail(".thumbs/apply_dustcover.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_dust_cover.svg"), + anno::ui_order(19), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf dust_bsdf = df::diffuse_reflection_bsdf( + roughness: 1., + tint: dust_color + ); +} in material( + surface: material_surface( + scattering: df::custom_curve_layer( + weight: visibility, + normal_reflectivity: dust_density*dust_density*dust_density, + exponent: (1.05-dust_density)*2., + normal: normal, + layer: dust_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_colorfalloff_v2( + material base = scratched_metal_v2(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + uniform color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("Color 1 (facing direction)") + ]], + uniform color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("Color 2") + ]], + uniform color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("Color 3") + ]], + uniform color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("Color 4") + ]], + uniform color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("Color 5 (object edges)") + ]] +) +[[ + anno::display_name("Apply a color falloff"), + anno::description("Makes the color view dependent"), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/apply_color_falloff.svg"), + anno::ui_order(20), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//JAN: TODO fix from here +export material apply_metallicflakes( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a flake layer applied") + ]], + color flake_color = color(.9,.7,.5) + [[ + anno::display_name("Color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.5 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = 0.5 + [[ + anno::display_name("Flake opacity"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]] +) +[[ + anno::display_name("Apply flake coating"), + anno::description("Apply layer of metallic flakes to an existing material"), + anno::thumbnail(".thumbs/apply_metallicflakes.png"), + anno::in_group("Material modifiers", "Coating"), + icon(".icons/apply_flake_coating.svg"), + anno::ui_order(21), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flake_paint( + color base_color = color(.3,.01,.01) + [[ + anno::display_name("Base color"), + anno::description("The color of the base paint") + ]], + color flake_color = color(.6,1,.1) + [[ + anno::display_name("Flake color"), + anno::description("The color of the flakes") + ]], + float roughness = 0.15 + [[ + anno::display_name("Flake roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metallic flakes") + ]], + uniform float size = 1. + [[ + anno::display_name("Flake size"), + anno::description("Determines size of the metallic flakes, in mm") + ]], + uniform float amount = 0.4 + [[ + anno::display_name("Flake amount"), + anno::hard_range(0.0,1.), + anno::description("Determines amount of visible metallic flakes") + ]], + uniform float opacity = .8 + [[ + anno::display_name("Flake weight"), + anno::hard_range(0.0,1.), + anno::description("Determines visibility of the metallic flakes") + ]], + uniform float bump = 1. + [[ + anno::display_name("Flake orientation randomness"), + anno::description("Larger numbers will increase the sparkle radius around highlights") + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat") + ]], + float coat_roughness = 0.0 + [[ + anno::display_name("Coat roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat") + ]], + float3 coat_bump = state::normal() + [[ + anno::display_name("Coat bump"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Flaky paint"), + anno::description("A multi layer paint material containing flakes"), + anno::thumbnail(".thumbs/flake_paint.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials"), + anno::ui_order(14), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("complex","carpaint")) +]] + = let{ + float3 flake_normal = base::flake_noise_bump_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + strength: bump, + scale: size * 0.001 + ); + float flake_opacity = base::flake_noise_texture( + uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), + intensity: opacity, + scale: size * 0.001, + density: amount + ).mono; + + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: flake_color + ); +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: coat_bump, + layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), + base: df::weighted_layer( + normal: flake_normal, + weight: flake_opacity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf(tint: base_color) + ) + ) + ), + thin_walled: true +); + +export material add_cutout( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a cut-out") + ]], + float cutout = 1.0 + [[ + anno::display_name("Cutout"), + anno::hard_range(0.0,1.0), + anno::description("Determines where the object is visible") + ]] +) [[ + anno::display_name("Add cut-outs"), + anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), + anno::thumbnail(".thumbs/add_cutout.png"), + anno::in_group("Material modifiers"), + icon(".icons/add_cutouts.svg"), + anno::ui_order(22), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: true, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: cutout + ) +); + +export material add_simple_sticker( + color diffuse_color = color(.5) + [[ + anno::display_name("Sticker color"), + anno::description("The color of the material"), + anno::ui_order(2) + ]], + float roughness = 0.05 + [[ + anno::display_name("Sticker roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(3) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("Sticker IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Sticker reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(4) + ]], + float3 sticker_normal = state::normal() + [[ + anno::display_name("Sticker bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]], + float sticker_mask = 0.0 + [[ + anno::display_name("Sticker mask"), + anno::hard_range(0.0,1.0), + anno::description("Determines extent of the sticker"), + anno::ui_order(5) + ]], + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a sticker added"), + anno::ui_order(1) + ]] +) [[ + anno::display_name("Add simple sticker"), + anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), + anno::thumbnail(".thumbs/add_simple_sticker.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_simple_sticker.svg"), + anno::ui_order(23), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = let{ + material blend_material = blend( + blend: scratched_plastic_v2( + diffuse_color: diffuse_color, + roughness: roughness, + ior: ior, + reflectivity: reflectivity, + normal: sticker_normal), + base: base, + weight: sticker_mask + ); +} in material( + surface: blend_material.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_globalbump( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bump"), + anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") + ]] +) [[ + anno::display_name("Add global bumpmap"), + anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), + anno::thumbnail(".thumbs/add_globalbump.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_global_bumpmap.svg"), + anno::ui_order(24), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get a bump map") + ]], + float displacement = 0.0 + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add displacement"), + anno::description("Adds displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_vector_displacement( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get displacement") + ]], + float3 displacement = float3(0.0) + [[ + anno::display_name("Displacement amount"), + anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") + ]], + uniform displacement_vector_space space = displacement_vector_tangent_space + [[ + anno::display_name("Displacement vector mode"), + anno::description("Specify the space of the vector dispacement map") + ]], + uniform float displacement_scale = 1.0 + [[ + anno::display_name("Displacement scale"), + anno::description("A global scale factor for the displacement amount") + ]] +) [[ + anno::display_name("Add vector displacement"), + anno::description("Adds vector displacement to existing materials"), + anno::thumbnail(".thumbs/add_displacement.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Displacement"), + icon(".icons/add_vector_displacement.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), + normal: base.geometry.normal, + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_round_edges( + material base = scratched_plastic_v2() + [[ + anno::display_name("Base material"), + anno::description("The material that will get round edges") + ]], + uniform float round_edges_radius = 0.02 + [[ + anno::display_name("Round edge radius"), + anno::description("Influence radius around the edges in meters") + ]], + uniform float round_edges_roundness = 1.0 + [[ + anno::display_name("Round edge roundness"), + anno::description("Determines how round the edge will look"), + anno::hard_range(0.0, 1.0) + ]], + uniform bool round_edges_across_materials = false + [[ + anno::display_name("Round edge across materials"), + anno::description("Normal smoothing happens only between facets of equal material, unless + this parameter is set true, in which case the smoothing happens between + facets irrespective of their materials") + ]] +) [[ + anno::display_name("Add round edges"), + anno::description("Adds round edges to existing materials"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers"), + icon(".icons/add_round_edges.svg"), + anno::ui_order(25), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic")) +]] = material( + surface: base.surface, + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: material_geometry( + displacement: base.geometry.displacement, + normal: state::rounded_corner_normal( + radius: round_edges_radius, + roundness: round_edges_roundness, + across_materials: round_edges_across_materials + ), + cutout_opacity: base.geometry.cutout_opacity + ) +); + +export material add_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add emission"), + anno::description("Adds emission to a material"), + anno::thumbnail(".thumbs/add_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_emission.svg"), + anno::ui_order(26), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material add_thermal_emission( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get emission added") + ]], + uniform float temperature = 6500. + [[ + anno::display_name("Temperature"), + anno::description("The color temperature of the light in Kelvin") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Add thermal emission"), + anno::description("Adds emission to a material, color is based on a \"color temperature\""), + anno::thumbnail(".thumbs/add_thermal_emission.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Material modifiers", "Emission"), + icon(".icons/add_thermal_emission.svg"), + anno::ui_order(27), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + suitable_as_light(), + anno::key_words(string[]("modifier","generic")) +]] = +let { + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; + color emission_color = math::blackbody(temperature); + + color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} +in material( + surface: material_surface( + scattering: base.surface.scattering, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: scaled_intensity, + mode: imode + ) + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); +//endgroup + +/**-*/ + +//group Emissive materials + +export material light_omni ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Diffuse emission"), + anno::description("Emissive material emitting in all directions"), + anno::thumbnail(".thumbs/light_omni.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::ui_order(5000), + anno::hidden(), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::diffuse_edf(), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_spot ( + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1000 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(), //deprecated + anno::description("Modeling unit to meter conversion factor") + ]], + uniform float spot_exponent = 30 + [[ + anno::display_name("Spot focus"), + anno::description("larger values lead to more focused spotlights") + ]], + uniform emission_type unit = lumen_m2 + [[ + anno::display_name("Unit for emission"), + anno::description("The physical unit of \"Intensity\"") + ]] +) [[ + anno::display_name("Spotlight emission"), + anno::description("Emissive material emitting focused in one direction"), + anno::thumbnail(".thumbs/light_spot.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5051), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = +let{ + //since this is a spotlight, we need the apex angle to convert from candela to lumen + //http://www.compuphase.com/electronics/candela_lumen.htm + //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi + //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); + + //correct integral + uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); + uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; + uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; +} in material ( + surface: material_surface ( + emission: material_emission ( + emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*unit_intensity*unit_scale, + mode: imode + ) + ) +); + +export material light_ies ( + uniform light_profile profile + [[ + anno::display_name("IES light profile data"), + anno::description("Data to describe the distribution of the light") + ]], + color tint = color(1.) + [[ + anno::display_name("Color"), + anno::description("The color of the light") + ]], + uniform float intensity = 1 + [[ + anno::display_name("Intensity"), + anno::description("The brightness of the light source") + ]], + uniform float unit_scale = 1. + [[ + anno::display_name("Unit scale"), + anno::hidden(),//deprecated + anno::description("Modeling unit to meter conversion factor") + ]] +) [[ + anno::display_name("IES file based emission"), + anno::description("Emissive material emitting as described in an IES file"), + anno::thumbnail(".thumbs/light_ies.png"), + anno::author("NVIDIA Corporation"), + anno::in_group("Materials, lights"), + anno::hidden(), + anno::ui_order(5052), + anno::copyright_notice(COPYRIGHT), + anno::key_words(string[]("lightsource")), + suitable_as_light() +]] = material ( + surface: material_surface ( + emission: material_emission ( + emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), + intensity: tint*intensity*unit_scale + ) + ) +); + +//endgroup + +//group Deprecated + +//deprecated functionality=========================================================================================== +export annotation ui_position(int position); +export annotation typical_object_size(float size); + +export material metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple metal, deprecated"), + anno::description("A basic metallic material"), + anno::thumbnail(".thumbs/metal.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material") + ]], + float roughness = 0.25 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Simple plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic"), + anno::thumbnail(".thumbs/plastic.png"), + anno::author("NVIDIA Corporation"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_metal( + color metal_color = color(.9) + [[ + anno::display_name("Color"), + anno::description("The color of the metal") + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + float glossy_weight = .9 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Intensity of highlights and glossy reflections and highlights") + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight") + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Metal , deprecated"), + anno::description("A metallic material with stretched reflections"), + anno::thumbnail(".thumbs/scratched_metal.png"), + anno::hidden(), + //anno::deprecated("Use scratched_metal_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","metal")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: metal_color, + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::weighted_layer( + weight: glossy_weight, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: metal_color + ), + normal: normal + ) + ) + ) +); + +export material scratched_plastic( + color diffuse_color = color(.5) + [[ + anno::display_name("Color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float roughness = 0.05 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(2) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Anisotropy"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(4) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(5) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity"), + anno::ui_order(6) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Additional Reflectivity control"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(7) + ]] +) +[[ + anno::display_name("Plastic, deprecated"), + anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), + anno::thumbnail(".thumbs/scratched_plastic.png"), + anno::hidden(), + //anno::deprecated("Use scratched_plastic_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); +} in material( + thin_walled: true, + surface: material_surface( + scattering: df::weighted_layer( + weight: 1., + normal: normal, + layer: df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: df::diffuse_reflection_bsdf( + roughness: 0.0, + tint: diffuse_color + ), + normal: normal + ) + ) + ) +); + +export material apply_colorfalloff( + material base = scratched_metal(metal_color: color(1.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied") + ]], + color color_0 = color(1.,0.,0.) + [[ + anno::display_name("Color 1"), + anno::description("The color of the dust") + ]], + color color_1 = color(0.,1.,0.) + [[ + anno::display_name("Color 2"), + anno::description("The color of the dust") + ]], + color color_2 = color(0.,0.,1.) + [[ + anno::display_name("Color 3"), + anno::description("The color of the dust") + ]], + color color_3 = color(1.,0.,0.) + [[ + anno::display_name("Color 4"), + anno::description("The color of the dust") + ]], + color color_4 = color(0.,1.,0.) + [[ + anno::display_name("Color 5"), + anno::description("The color of the dust") + ]] +) +[[ + anno::display_name("Apply a color falloff, deprecated"), + anno::description("Makes the color view dependent"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + anno::thumbnail(".thumbs/apply_colorfalloff.png"), + anno::hidden(), + //anno::deprecated("Use apply_colorfalloff_v2 instead"), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = material( + surface: material_surface( + scattering: df::measured_curve_factor( + curve_values: color[](color_0,color_1,color_2,color_3,color_4), + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material flex_material( + color base_color = color(.5) + [[ + anno::display_name("Base color"), + anno::in_group("Base"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + float diffuse_roughness = 0.0 + [[ + anno::display_name("Diffuse roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to a more \"powdery\" look"), + anno::ui_order(2) + ]], + uniform bool is_metal = false + [[ + anno::display_name("Metallic material"), + anno::in_group("Base"), + anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), + anno::ui_order(3) + ]], + float reflectivity = 1.0 + [[ + anno::display_name("Reflection weight"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Controls the amount of reflection"), + anno::ui_order(5) + ]], + float reflection_roughness = 0.1 + [[ + anno::display_name("Reflection roughness"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to more blurry reflections"), + anno::ui_order(4) + ]], + float anisotropy = 0.0 + [[ + anno::display_name("Reflection anisotropy"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Higher values will stretch the highlight"), + anno::ui_order(6) + ]], + float anisotropy_rotation = 0.0 + [[ + anno::display_name("Anisotropy rotation"), + anno::in_group("Base"), + anno::hard_range(0.0,1.), + anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), + anno::ui_order(7) + ]], + float transparency = 0.0 + [[ + anno::display_name("Transmission weight"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), + anno::ui_order(12) + ]], + color transmission_color = color(1.) + [[ + anno::display_name("Transmission color"), + anno::in_group("Transmission"), + anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), + anno::ui_order(8) + ]], + uniform color volume_color = color(1.0) + [[ + anno::display_name("Volume color"), + anno::in_group("Transmission"), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), + anno::ui_order(9) + ]], + float transmission_roughness = 0.0 + [[ + anno::display_name("Transmission roughness"), + anno::in_group("Transmission"), + anno::hard_range(0.0,1.), + anno::description("higher values lead to objects seen through the material to appear blurry"), + anno::ui_order(11) + ]], + uniform float base_thickness = 0.1 + [[ + anno::display_name("Volume reference distance"), + anno::in_group("Transmission"), + anno::soft_range(0.0,10.0), + anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(10) + ]], + uniform float ior = 1.5 + [[ + anno::display_name("IOR"), + anno::in_group("Global"), + anno::soft_range(1.0,4.0), + anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), + anno::ui_order(14) + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin walled"), + anno::in_group("Global"), + anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), + anno::ui_order(13) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::in_group("Global"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(16) + ]], + uniform float abbe_number = 0.0 + [[ + anno::in_group("Global"), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(15) + ]] +) +[[ + anno::display_name("Flexible material model, deprecated"), + anno::description("A complex material that can be configured to a wide variety of looks"), + anno::thumbnail(".thumbs/flex_material.png"), + anno::hidden(), + //anno::deprecated("Use flex_material_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(complex_material), + anno::key_words(string[]("generic","complex")) +]] + = let{ + base::anisotropy_return anisotropy_values = base::anisotropy_conversion( + roughness: reflection_roughness, + anisotropy: anisotropy, + anisotropy_rotation: anisotropy_rotation + ); + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: is_metal? base_color: color(1.), + roughness_u: anisotropy_values.roughness_u, + roughness_v: anisotropy_values.roughness_v, + tangent_u: anisotropy_values.tangent_u + ); + bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( + tint: base_color, + roughness: diffuse_roughness + ); + bsdf transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: transmission_roughness + ); + bsdf add_transparency = df::weighted_layer( + weight: transparency, + layer: transmission_bsdf, + base: diffuse_bsdf, + normal: normal + ); + bsdf add_reflection = is_metal? df::weighted_layer( + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ): df::fresnel_layer( + ior: ior, + weight: reflectivity, + layer: glossy_bsdf, + base: add_transparency, + normal: normal + ); + bsdf add_normal = df::weighted_layer( + normal: normal, + weight: 1., + layer: add_reflection + ); +} in material( + thin_walled: thin_walled, + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), + surface: material_surface( + scattering: add_normal + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ) +); + +export material thin_glass( + color glass_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin glass, deprecated"), + anno::description("A basic transmissive dielectric without refraction or volume"), + anno::thumbnail(".thumbs/thin_glass.png"), + anno::hidden(), + //anno::deprecated("Use thin_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: glass_color, + roughness_u: roughness + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + layer: glossy_transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) +); + +export material thin_translucent( + color surface_color = color(.95) + [[ + anno::display_name("Diffuse color"), + anno::description("The color of the material") + ]], + color translucent_color = color(.95) + [[ + anno::display_name("Translucence color"), + anno::description("The color of the volume of the material") + ]], + float translucency = 0.5 + [[ + anno::display_name("Translucence weight"), + anno::hard_range(0.0,1.), + anno::description("Fraction of the incoming light that should be visible on the backside") + ]], + float roughness = 0.0 + [[ + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity") + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]] +) +[[ + anno::display_name("Thin translucent, deprecated"), + anno::description("A diffuse transmissive dielectric material"), + anno::thumbnail(".thumbs/thin_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thin_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) +]] + = let{ + bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::diffuse_transmission_bsdf( + tint: translucent_color + ); + bsdf base_bsdf = df::diffuse_reflection_bsdf( + tint: surface_color + ); +} in material( + thin_walled: true, + surface: material_surface( + df::fresnel_layer( + ior: ior, + normal: normal, + layer: glossy_reflection_bsdf, + base: df::weighted_layer( + weight: translucency, + normal: normal, + base: base_bsdf, + layer: df::weighted_layer( + layer: transmission_bsdf, + normal: normal, + weight: 1. + ) + ) + ) + ) +); + +export material thick_glass( + color transmission_color = color(1.0) + [[ + anno::ui_order(1), + anno::display_name("Transmission color"), + anno::description("Colors the light entering the volume, similar to stained glass") + ]], + uniform color glass_color = color(.95) + [[ + anno::ui_order(2), + anno::display_name("Volume color"), + anno::description("The color of the glass body") + ]], + float roughness = 0.0 + [[ + anno::ui_order(4), + anno::display_name("Roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections") + ]], + uniform float ior = 1.4 + [[ + anno::ui_order(5), + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction") + ]], + uniform float base_thickness = .1 + [[ + anno::ui_order(3), + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") + + ]], + float3 normal = state::normal() + [[ + anno::ui_order(7), + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here") + ]], + uniform float abbe_number = 0.0 + [[ + anno::ui_order(6), + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0) + ]] +) +[[ + anno::display_name("Thick glass, deprecated"), + anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), + anno::thumbnail(".thumbs/thick_glass.png"), + anno::hidden(), + //anno::deprecated("Use thick_glass_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","glass")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: transmission_color, + roughness_u: roughness + ); +} in material( + thin_walled: false, + surface: material_surface( + df::weighted_layer( + normal: normal, + weight: 1., + layer: df::fresnel_layer( + layer: glossy_bsdf, + base: glossy_bsdf_transmission, + ior: ior, + normal: normal + ) + ) + ), + volume: material_volume( + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material thick_translucent( + color transmission_color = color(.95) + [[ + anno::display_name("Transmission color"), + anno::description("The color of the material"), + anno::ui_order(1) + ]], + uniform color volume_color = color(.95) + [[ + anno::display_name("Volume color"), + anno::description("The color of the volume at \"Volume reference distance\""), + anno::ui_order(2) + ]], + uniform float volume_scattering = 0.5 + [[ + anno::display_name("Volume scattering"), + anno::hard_range(0.0,.99999), + anno::description("Amount of scattering for objects at \"Volume reference distance\""), + anno::ui_order(3) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.), + anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), + anno::ui_order(5) + ]], + float reflectivity = 1. + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.), + anno::description("Overall reflectivity of the material"), + anno::ui_order(6) + ]], + uniform float base_thickness = .1 + [[ + anno::display_name("Volume reference distance"), + anno::soft_range(0.0,10.0), + anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), + anno::ui_order(4) + + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(9) + ]], + uniform float ior = 1.4 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity as well as amount of refraction"), + anno::ui_order(7) + ]], + uniform float abbe_number = 0.0 + [[ + anno::display_name("Abbe number"), + anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), + anno::soft_range(0.0,100.0), + anno::ui_order(8) + ]] +) +[[ + anno::display_name("Thick translucent, deprecated"), + anno::description("A subsurface scattering material"), + anno::thumbnail(".thumbs/thick_translucent.png"), + anno::hidden(), + //anno::deprecated("Use thick_translucent_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(simple_material), + anno::key_words(string[]("generic","dielectric","wax","milk")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: color(1.), + roughness_u: roughness + ); + bsdf transmission_bsdf = df::specular_bsdf( + mode: df::scatter_transmit, + tint: transmission_color + ); + +} in material( + thin_walled: false, + surface: material_surface( + df::fresnel_layer( + normal: normal, + weight: reflectivity, + ior: ior, + layer: glossy_bsdf, + base: df::weighted_layer( + normal: normal, + weight: 1., + layer: transmission_bsdf + ) + ) + ), + volume: material_volume( + scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, + absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness + ), + ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) +); + +export material apply_clearcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a clear coating applied"), + anno::ui_order(1) + ]], + uniform float ior = 1.6 + [[ + anno::display_name("IOR"), + anno::soft_range(1.0,4.0), + anno::description("Determines reflectivity of the clear coat"), + anno::ui_order(5) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the clear coat"), + anno::ui_order(3) + ]], + float visibility = 1.0 + [[ + anno::display_name("Coat visibility"), + anno::hard_range(0.0,1.0), + anno::description("Determines visibility of the clear coat"), + anno::ui_order(4) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(6) + ]], + color coat_filter_color = color(1.) + [[ + anno::display_name("Coat filter color"), + anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), + anno::ui_order(2) + ]] +) +[[ + anno::display_name("Apply clear coating, deprecated"), + anno::description("Apply clear coat to an existing material"), + anno::author("NVIDIA Corporation"), + anno::thumbnail(".thumbs/apply_clearcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_clearcoat_v2 instead"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: color(1.) + ); + color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; +} in material( + surface: material_surface( + scattering: df::fresnel_layer( + ior: ior, + normal: normal, + weight: visibility, + layer: glossy_bsdf, + base: df::tint(tint: base_tint, base: base.surface.scattering) + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +export material apply_metalcoat( + material base = diffuse(diffuse_color: color(0.)) + [[ + anno::display_name("Base material"), + anno::description("The material that will get a metallic coating applied"), + anno::ui_order(1) + ]], + color metal_color = color(.95) + [[ + anno::display_name("Reflection color"), + anno::description("The color of the metal"), + anno::ui_order(2) + ]], + float visibility = .3 + [[ + anno::display_name("Reflection weight"), + anno::hard_range(0.0,1.0), + anno::description("The opacity of the coat"), + anno::ui_order(4) + ]], + float roughness = 0.0 + [[ + anno::display_name("Reflection roughness"), + anno::hard_range(0.0,1.0), + anno::description("Determines roughness of the metal coat"), + anno::ui_order(3) + ]], + float3 normal = state::normal() + [[ + anno::display_name("Bumps"), + anno::description("Attach bump or normal maps here"), + anno::ui_order(5) + ]] +) +[[ + anno::display_name("Apply thin metal coating, deprecated"), + anno::description("Apply metal coat to an existing material"), + anno::thumbnail(".thumbs/apply_metalcoat.png"), + anno::hidden(), + //anno::deprecated("Use apply_metalcoat_v2 instead"), + anno::author("NVIDIA Corporation"), + anno::copyright_notice(COPYRIGHT), + type_of_material(modifier_material), + anno::key_words(string[]("modifier","generic","coating")) +]] + = let{ + bsdf glossy_bsdf = df::simple_glossy_bsdf( + mode: df::scatter_reflect, + roughness_u: roughness, + tint: metal_color + ); +} in material( + surface: material_surface( + scattering: df::weighted_layer( + weight: visibility, + normal: normal, + layer: glossy_bsdf, + base: base.surface.scattering + ), + emission: base.surface.emission + ), + volume: base.volume, + ior: base.ior, + thin_walled: base.thin_walled, + geometry: base.geometry +); + +//endgroup + +/*-**/ diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/license.txt b/wonikrobotics_allegrohand_allegro/materials/mdl/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/license.txt @@ -0,0 +1,73 @@ +# NVIDIA Omniverse Core Materials Licenses + +## Primary License +This project is primarily licensed under the BSD-3-Clause License. + +``` +Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +``` + +## Third-Party Licenses + +### Apache License 2.0 +The following components are licensed under the Apache License 2.0: + +#### MaterialX Components +Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: +https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE + +``` +Copyright Contributors to the MaterialX Project + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +``` + +## SPDX License Identifiers +Files in this project use the following SPDX license identifiers: +- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code +- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components + +## License Attribution +This project contains code from multiple sources: +1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase +2. Academy Software Foundation (Apache-2.0) - MaterialX components + +## License Scope +- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise +- Files in `/source/mdl/materialx` are licensed under Apache-2.0 +- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/wonikrobotics_allegrohand_allegro/materials/mdl/support_definitions.mdl b/wonikrobotics_allegrohand_allegro/materials/mdl/support_definitions.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8fc835d19c6caa5cad15c8f472ad074645017c9f --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/materials/mdl/support_definitions.mdl @@ -0,0 +1,4292 @@ +/* + * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. + * SPDX-License-Identifier: BSD-3-Clause + */ + +mdl 1.8; + +import ::anno::*; +import ::math::*; + +using .::aux_definitions import xy; +import ::state::*; +import ::scene::*; + +export using ::state import coordinate_space; //enum type +import ::tex::*; +export using ::tex import gamma_mode; //enum type +export using ::tex import wrap_mode; //enum type + +module [[ + anno::version( 1, 2, 0), + anno::display_name("NVIDIA support definitions") +]]; + +export annotation icon(string path); + + +export float data_lookup_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float(name, default_value); +} + +export float2 data_lookup_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float2(name, default_value); +} + +export float3 data_lookup_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float3(name, default_value); +} + +export float4 data_lookup_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_float4(name, default_value); +} + +export int data_lookup_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int(name, default_value); +} + +export int2 data_lookup_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int2(name, default_value); +} + +export int3 data_lookup_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int3(name, default_value); +} + +export int4 data_lookup_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_int4(name, default_value); +} + +export color data_lookup_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Varying"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_color(name, default_value); +} + +export uniform float data_lookup_uniform_float( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float default_value = float() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float(name, default_value); +} + +export uniform float2 data_lookup_uniform_float2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float2 default_value = float2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float2(name, default_value); +} + +export uniform float3 data_lookup_uniform_float3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float3 default_value = float3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform float3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float3(name, default_value); +} + +export uniform float4 data_lookup_uniform_float4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform float4 default_value = float4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup unfirom float4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_float4(name, default_value); +} + +export uniform int data_lookup_uniform_int( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int default_value = int() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int(name, default_value); +} + +export uniform int2 data_lookup_uniform_int2( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int2 default_value = int2() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int2"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int2(name, default_value); +} + +export uniform int3 data_lookup_uniform_int3( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int3 default_value = int3() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int3"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int3(name, default_value); +} + +export uniform int4 data_lookup_uniform_int4( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform int4 default_value = int4() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform int4"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_int4(name, default_value); +} + +export uniform color data_lookup_uniform_color( + uniform string name [[ + anno::description("Scene data attribute name to look up on the target mesh.") + ]], + uniform color default_value = color() [[ + anno::description("Fallback value returned when the named scene data is not present on the target mesh.") + ]] +) [[ + anno::display_name("Data lookup uniform color"), + anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Data Lookup", "Uniform"), + icon(".icons/data_lookup.svg") +]] +{ + return scene::data_lookup_uniform_color(name, default_value); +} + + + +// operator nodes +// Add +export int add(int a=0, int b=0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(300) +]] +{ return a+b; } + +export float add(float a=0.0, float b=0.0) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(301) +]] +{ return a+b; } + +export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(302) +]] +{ return a+b; } + +export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(303) +]] +{ return a+b; } + +export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(304) +]] +{ return a+b; } + +export color add(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Add"), + anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Add"), + icon(".icons/Add.svg"), + anno::ui_order(305) +]] +{ return a+b; } + +export int subtract(int a=0, int b=0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(310) +]] +{ return a-b; } + +export float subtract(float a=0.0, float b=0.0) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(311) +]] +{ return a-b; } + +export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(312) +]] +{ return a-b; } + +export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(313) +]] +{ return a-b; } + +export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(314) +]] +{ return a-b; } + +export color subtract(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Subtract"), + anno::description("Subtracts the second input from the first. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Subtract"), + icon(".icons/Subtract.svg"), + anno::ui_order(315) +]] +{ return a-b; } + +export int multiply(int a=0, int b=0) +[[ + anno::display_name("Multiply"), + anno::description("Subtracts the second input from the first."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(320) +]] +{ return a*b; } + +export float multiply(float a=0.0, float b=0.0) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(321) +]] +{ return a*b; } + +export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(322) +]] +{ return a*b; } + +export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(323) +]] +{ return a*b; } + +export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(324) +]] +{ return a*b; } + +export color multiply(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Multiply"), + anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Multiply"), + icon(".icons/Multiply.svg"), + anno::ui_order(325) +]] +{ return a*b; } + +export int divide(int a=0, int b=0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(326) +]] +{ return a/b; } + +export float divide(float a=0.0, float b=0.0) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(327) +]] +{ return a/b; } + +export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(328) +]] +{ return a/b; } + +export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(329) +]] +{ return a/b; } + +export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(330) +]] +{ return a/b; } + +export color divide(color a=color(0.0), color b=color(0.0)) +[[ + anno::display_name("Divide"), + anno::description("Divides the first input by the second. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Divide"), + icon(".icons/Divide.svg"), + anno::ui_order(331) +]] +{ return a/b; } + +export int condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + int a=0 [[ + anno::description("Value returned when the condition is true.") + ]], + int b=0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(332) +]] +{ return x?a:b; } + +export float condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float a=0.0 [[ + anno::description("Value returned when the condition is true.") + ]], + float b=0.0 [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(333) +]] +{ return x?a:b; } + +export float2 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float2 a=float2(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float2 b=float2(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(334) +]] +{ return x?a:b; } + +export float3 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float3 a=float3(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float3 b=float3(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(335) +]] +{ return x?a:b; } + +export float4 condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + float4 a=float4(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + float4 b=float4(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(336) +]] +{ return x?a:b; } + +export color condition( + uniform bool x=true [[ + anno::description("Condition that selects which input to return.") + ]], + color a=color(0.0) [[ + anno::description("Value returned when the condition is true.") + ]], + color b=color(0.0) [[ + anno::description("Value returned when the condition is false.") + ]] +) +[[ + anno::display_name("Condition?"), + anno::description("Returns input a when the condition is true; otherwise returns input b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Condition"), + icon(".icons/condition.svg"), + anno::ui_order(337) +]] +{ return x?a:b; } + +export bool compare(float a, float b) +[[ + anno::display_name("Compare"), + anno::description("Returns true when a is greater than b; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Comparison"), + icon(".icons/compare.svg"), + anno::ui_order(338) +]] +{ return a>b; } + +export bool equality(bool a, bool b) +[[ + anno::display_name("Check equality bool"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(339) +]] +{ return a==b; } + +export bool equality(int a, int b) +[[ + anno::display_name("Check equality int"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(340) +]] +{ return a==b; } + +export bool equality(int2 a, int2 b) +[[ + anno::display_name("Check equality int2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(341) +]] +{ return a==b; } + +export bool equality(int3 a, int3 b) +[[ + anno::display_name("Check equality int3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(342) +]] +{ return a==b; } + +export bool equality(float a, float b) +[[ + anno::display_name("Check equality float"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(343) +]] +{ return a==b; } + +export bool equality(float2 a, float2 b) +[[ + anno::display_name("Check equality float2"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(344) +]] +{ return a==b; } + +export bool equality(float3 a, float3 b) +[[ + anno::display_name("Check equality float3"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(345) +]] +{ return a==b; } + +export bool equality(color a, color b) +[[ + anno::display_name("Check equality color"), + anno::description("Returns true when both inputs are equal; otherwise returns false."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Operators", "Equality"), + icon(".icons/Equality.svg"), + anno::ui_order(346) +]] +{ return a==b; } + +//constants nodes. +export bool bool_const(uniform bool b = true) +[[ + anno::display_name("Constant bool"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1000) +]] +{ return b; } + +export int int_const(uniform int i = 0) +[[ + anno::display_name("Constant int"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1001) +]] +{ return i; } + +export float float_const(uniform float f = 0.) +[[ + anno::display_name("Constant float"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1002) +]] +{ return f; } + +export float2 float2_const(uniform float2 f2 = float2(0.)) +[[ + anno::display_name("Constant float2"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1003) +]] +{ return f2; } + +export float3 float3_const(uniform float3 f3 = float3(0.)) +[[ + anno::display_name("Constant float3"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1004) +]] +{ return f3; } + +export float4 float4_const(uniform float4 f4 = float4(0.)) +[[ + anno::display_name("Constant float4"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1005) +]] +{ return f4; } + +export color color_const(uniform color c = color(0.)) +[[ + anno::display_name("Constant color"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1006) +]] +{ return c; } + +export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ + anno::display_name("Constant texture_2d"), + anno::description("Pass-through constant node that returns the provided value unchanged."), + anno::author("NVIDIA Corporation"), + anno::in_group("Constants"), + icon(".icons/constructor.svg"), + anno::ui_order(1007) +]] +{ return tex; } + +//exports from tex: +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose width is queried.") + ]]) uniform +[[ + anno::display_name("Width of texture"), + anno::description("Returns the width of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(141) +]] +{ return tex::width(tex); } + +export int texture_width( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile width is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Width of a texture tile"), + anno::description("Returns the width of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Width"), + icon(".icons/texture_width.svg"), + anno::ui_order(143) +]] +{ return tex::width(tex, uv_tile); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose height is queried.") + ]]) uniform +[[ + anno::display_name("Height of texture"), + anno::description("Returns the height of the input texture in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(142) +]] +{ return tex::height(tex); } + +export int height( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource whose tile height is queried.") + ]], + int2 uv_tile = int2(0, 0) [[ + anno::description("UDIM tile index as (u, v).") + ]]) uniform +[[ + anno::display_name("Height of a texture tile"), + anno::description("Returns the height of the specified texture tile in pixels."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info", "Height"), + icon(".icons/texture_height.svg"), + anno::ui_order(144) +]] +{ return tex::height(tex,uv_tile); } + +export float2 transform_st( + float rotation = 0.0 [[ + anno::description("Rotation angle in radians.") + ]], + float2 translation = float2(0.0) [[ + anno::description("Translation offset applied after rotation and scaling.") + ]], + float2 scale = float2(1.0) [[ + anno::description("Scale factor applied per coordinate axis.") + ]], + float2 st = float2(0.0) [[ + anno::description("Input 2D coordinate to transform.") + ]] +) +[[ + anno::display_name("Transform 2D"), + anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform"), + icon(".icons/transform.svg"), + anno::ui_order(1019) +]] +{ + float s = math::sin(rotation); + float c = math::cos(rotation); + float2 st_t=st; + st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); + return st_t*scale+ translation; +} + +export color biased_color_blend( + float w1 = 0.0 [[ + anno::description("Weight for the first input color.") + ]], + color c1 = color(0.0) [[ + anno::description("First input color.") + ]], + float w2 = 0.0 [[ + anno::description("Weight for the second input color.") + ]], + color c2 = color(0.0) [[ + anno::description("Second input color.") + ]], + float w3 = 0.0 [[ + anno::description("Weight for the third input color.") + ]], + color c3 = color(0.0) [[ + anno::description("Third input color.") + ]], + color mean = color(0.5) [[ + anno::description("Expected average color used to preserve contrast in the biased blend.") + ]] +) +[[ + anno::display_name("Biased color blend"), + anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Blend"), + icon(".icons/biased_color_blend.svg"), + anno::ui_order(539) +]] +{ + color o=w1*c1+w2*c2+w3*c3; + float s=w1+w2+w3; + float s2=w1*w1+w2*w2+w3*w3; +return mean + (o-s*mean)/ math::sqrt(s2); +} + + +export float lookup_float( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(100) +]] +{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + +export float3 lookup_float3( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float3"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(110) +]] +{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export float4 lookup_float4( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup float4"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(120) +]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +export color lookup_color( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to sample.") + ]], + float2 coord = float2(0.) [[ + anno::description("Texture coordinate used for sampling.") + ]], + uniform wrap_mode wrap_u = wrap_repeat [[ + anno::description("Wrap mode applied along the U axis.") + ]], + uniform wrap_mode wrap_v = wrap_repeat [[ + anno::description("Wrap mode applied along the V axis.") + ]], + uniform float2 crop_u = float2(0.0, 1.0) [[ + anno::description("Crop interval along the U axis, expressed as [min, max].") + ]], + uniform float2 crop_v = float2(0.0, 1.0) [[ + anno::description("Crop interval along the V axis, expressed as [min, max].") + ]], + float frame = 0.0 [[ + anno::description("Frame value used for animated textures.") + ]]) uniform +[[ + anno::display_name("Texture lookup color"), + anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Lookup"), + icon(".icons/texture_lookup.svg"), + anno::ui_order(130) +]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } + + +// check for valid resource +export bool texture_isvalid( + uniform texture_2d tex = texture_2d() [[ + anno::description("Texture resource to validate.") + ]]) uniform +[[ + anno::display_name("Is texture valid?"), + anno::description("Returns true when the provided texture handle is valid and can be sampled."), + anno::author("NVIDIA Corporation"), + anno::in_group("Texturing", "Info"), + icon(".icons/texture_isvalid.svg"), + anno::ui_order(140) +]] +{ return tex::texture_isvalid(tex); } + + +//exports from state: +export float3 position() +[[ + anno::display_name("Hit position"), + anno::description("Returns the current shading position in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/position.svg"), + anno::ui_order(1012) +]] +{ return state::position(); } + +export float3 normal() +[[ + anno::display_name("Shade normal"), + anno::description("Returns the current shading normal in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/normal.svg"), + anno::ui_order(1013) +]] +{ return state::normal(); } + +//new: quick access to xy: +export float2 texture_coordinate_2d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 2D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1010) +]] +{ return xy(state::texture_coordinate(i)); } + +export float3 texture_coordinate_3d( + uniform int i = 0 [[ + anno::description("Texture coordinate set index.") + ]]) +[[ + anno::display_name("Texture coordinate 3D"), + anno::description("Returns authored texture coordinates from the selected texture coordinate set."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Coordinate"), + icon(".icons/texture_coordinate.svg"), + anno::ui_order(1011) +]] +{ return state::texture_coordinate(i); } + +export float3 texture_tangent_u( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the U tangent.") + ]]) +[[ + anno::display_name("Shade tangent"), + anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1014) +]] +{ return state::texture_tangent_u(i); } + +export float3 texture_tangent_v( + uniform int i = 0 [[ + anno::description("Texture coordinate set index used to derive the V tangent.") + ]]) +[[ + anno::display_name("Shade bi-tangent"), + anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars", "Texture", "Tangent"), + icon(".icons/texture_tangent.svg"), + anno::ui_order(1015) +]] +{ return state::texture_tangent_v(i); } + +export float animation_time() +[[ + anno::display_name("Animation time"), + anno::description("Returns elapsed animation time in seconds from the start of the timeline."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene"), + icon(".icons/animation_time.svg"), + anno::ui_order(1030) +]] +{ return state::animation_time(); } + + +export float3 transform_point( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input point.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed point.") + ]], + float3 point=float3(0.) [[ + anno::description("Point to transform.") + ]]) +[[ + anno::display_name("Transform point"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1020) +]] +{ return state::transform_point(from, to, point); } + +export float3 transform_vector( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input vector.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed vector.") + ]], + float3 vector=float3(0.) [[ + anno::description("Vector to transform.") + ]]) +[[ + anno::display_name("Transform vector"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1021) +]] +{ return state::transform_vector(from, to, vector); } + +export float3 transform_normal( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input normal.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed normal.") + ]], + float3 normal=float3(0.,1.,0.) [[ + anno::description("Normal vector to transform.") + ]]) +[[ + anno::display_name("Transform normal"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1022) +]] +{ return state::transform_normal(from, to, normal); } + +export float transform_scale( + uniform coordinate_space from=coordinate_internal [[ + anno::description("Source coordinate space of the input scale value.") + ]], + uniform coordinate_space to=coordinate_object [[ + anno::description("Destination coordinate space for the transformed scale value.") + ]], + float scale=0. [[ + anno::description("Scale value to transform.") + ]]) +[[ + anno::display_name("Transform scale"), + anno::description("Transforms the input value between internal, object, and world coordinate spaces."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Coordinate"), + icon(".icons/transform.svg"), + anno::ui_order(1023) +]] +{ return state::transform_scale(from, to, scale); } + +float2 r2d(float2 x, float theta) +{ + theta *= math::acos(-1.0) * 2.0; + return float2( + math::cos(theta) * x[0] + math::sin(theta) * x[1], + math::cos(theta) * x[1] - math::sin(theta) * x[0]); +} + +export float3 rotate_around_x( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around X"), + anno::description("Rotates a 3D point around the X axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1024) +]] +{ + float2 v = r2d(float2(p.y, p.z), theta); + return float3(p.x, v[0], v[1]); +} + +export float3 rotate_around_y( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Y"), + anno::description("Rotates a 3D point around the Y axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1025) +]] +{ + float2 v = r2d(float2(p.x, p.z), theta); + return float3(v[0], p.y, v[1]); +} + +export float3 rotate_around_z( + float3 p [[ + anno::description("Point to rotate.") + ]], + float theta [[ + anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") + ]]) +[[ + anno::display_name("Rotate Around Z"), + anno::description("Rotates a 3D point around the Z axis by the input angle."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Transform", "Rotation"), + icon(".icons/rotation.svg"), + anno::ui_order(1026) +]] +{ + float2 v = r2d(float2(p.x, p.y), theta); + return float3(v[0], v[1], p.z); +} + +export float meters_per_scene_unit() +[[ + anno::display_name("Meters per scene unit"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/meters_per_scene_unit.svg"), + anno::ui_order(1031) +]] +{ return state::meters_per_scene_unit(); } + +export float scene_units_per_meter() +[[ + anno::display_name("Scene units per meter"), + anno::description("Returns the conversion factor between scene units and meters."), + anno::author("NVIDIA Corporation"), + anno::in_group("Scene", "Units"), + icon(".icons/scene_units_per_meter.svg"), + anno::ui_order(1032) +]] +{ return state::scene_units_per_meter(); } + +export int object_id() +[[ + anno::display_name("Object Id"), + anno::description("Returns the unique integer identifier of the currently shaded object."), + anno::author("NVIDIA Corporation"), + anno::in_group("State and Primvars"), + icon(".icons/object_id.svg"), + anno::ui_order(1033) +]] +{ return state::object_id(); } + +//exported from math: +export color blackbody( + float temperature=6500. [[ + anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") + ]]) +[[ + anno::display_name("Blackbody color"), + anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/blackbody.svg"), + anno::ui_order(409) +]] +{ return math::blackbody(temperature); } + +export float PI() +[[ + anno::display_name("Pi"), + anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Constants"), + icon(".icons/PI.svg"), + anno::ui_order(1007) +]] +{ return math::PI; } + +export int abs(int a=0) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(350) +]] +{ return math::abs(a); } + +export float abs(float a=0.) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(351) +]] +{ return math::abs(a); } + +export float2 abs(float2 a=float2(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(352) +]] +{ return math::abs(a); } + +export float3 abs(float3 a=float3(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(353) +]] +{ return math::abs(a); } + +export float4 abs(float4 a=float4(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(354) +]] +{ return math::abs(a); } + +export color abs(color a=color(0.)) +[[ + anno::display_name("Abs"), + anno::description("Returns the absolute value of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Abs"), + icon(".icons/Abs.svg"), + anno::ui_order(355) +]] +{ return math::abs(a); } + +export float acos(float a=0.) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(360) +]] +{ return math::acos(a); } + +export float2 acos(float2 a=float2(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(361) +]] +{ return math::acos(a); } + +export float3 acos(float3 a=float3(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(362) +]] +{ return math::acos(a); } + +export float4 acos(float4 a=float4(0.)) +[[ + anno::display_name("Acos"), + anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Acos"), + icon(".icons/Acos.svg"), + anno::ui_order(363) +]] +{ return math::acos(a); } + + +export float asin(float a=0.) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(370) +]] +{ return math::asin(a); } + +export float2 asin(float2 a=float2(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(371) +]] +{ return math::asin(a); } + +export float3 asin(float3 a=float3(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(372) +]] +{ return math::asin(a); } + +export float4 asin(float4 a=float4(0.)) +[[ + anno::display_name("Asin"), + anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Asin"), + icon(".icons/Asin.svg"), + anno::ui_order(373) +]] +{ return math::asin(a); } + +export float atan(float a=0.) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(380) +]] +{ return math::atan(a); } + +export float2 atan(float2 a=float2(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(381) +]] +{ return math::atan(a); } + +export float3 atan(float3 a=float3(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(382) +]] +{ return math::atan(a); } + +export float4 atan(float4 a=float4(0.)) +[[ + anno::display_name("Atan"), + anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan"), + icon(".icons/Atan.svg"), + anno::ui_order(383) +]] +{ return math::atan(a); } + +export float atan2( + float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(390) +]] +{ return math::atan2(y,x); } + +export float2 atan2( + float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(391) +]] +{ return math::atan2(y,x); } + +export float3 atan2( + float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(392) +]] +{ return math::atan2(y,x); } + +export float4 atan2( + float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], + float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] +) +[[ + anno::display_name("Atan2"), + anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Atan2"), + icon(".icons/Atan2.svg"), + anno::ui_order(393) +]] +{ return math::atan2(y,x); } + +export float average(float2 a=float2(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(400) +]] +{ return math::average(a); } + +export float average(float3 a=float3(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(401) +]] +{ return math::average(a); } + +export float average(float4 a=float4(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(402) +]] +{ return math::average(a); } + +export float average(color a=color(0.)) +[[ + anno::display_name("Average"), + anno::description("Returns the arithmetic mean of all components in the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Average"), + icon(".icons/Average.svg"), + anno::ui_order(403) +]] +{ return math::average(a); } + +export float ceil(float a=0.) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(410) +]] +{ return math::ceil(a); } + +export float2 ceil(float2 a=float2(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float3 ceil(float3 a=float3(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(411) +]] +{ return math::ceil(a); } + +export float4 ceil(float4 a=float4(0.)) +[[ + anno::display_name("Ceil"), + anno::description("Rounds each input value up to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Ceil"), + icon(".icons/Ceil.svg"), + anno::ui_order(412) +]] +{ return math::ceil(a); } + +export int clamp( + int a=0 [[anno::description("Input value to clamp.")]], + int min=0 [[anno::description("Lower bound of the output range.")]], + int max=1 [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(420) +]] +{ return math::clamp(a,min,max); } + +export float clamp( + float a=0. [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(421) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(422) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(423) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(424) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(425) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(426) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(427) +]] +{ return math::clamp(a,min,max); } + +export float2 clamp( + float2 a=float2(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=1. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(428) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(429) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(430) +]] +{ return math::clamp(a,min,max); } + +export float3 clamp( + float3 a=float3(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(431) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(432) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(433) +]] +{ return math::clamp(a,min,max); } + +export float4 clamp( + float4 a=float4(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(434) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + color min=color(0.) [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(435) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + color max=color(1.) [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(436) +]] +{ return math::clamp(a,min,max); } + +export color clamp( + color a=color(0.) [[anno::description("Input value to clamp.")]], + float min=0. [[anno::description("Lower bound of the output range.")]], + float max=0. [[anno::description("Upper bound of the output range.")]] +) +[[ + anno::display_name("Clamp"), + anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Clamp"), + icon(".icons/Clamp.svg"), + anno::ui_order(437) +]] +{ return math::clamp(a,min,max); } + +export float cos(float a=0.) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(440) +]] +{ return math::cos(a); } + +export float2 cos(float2 a=float2(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(441) +]] +{ return math::cos(a); } + +export float3 cos(float3 a=float3(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(442) +]] +{ return math::cos(a); } + +export float4 cos(float4 a=float4(0.)) +[[ + anno::display_name("Cos"), + anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Cos"), + icon(".icons/Cos.svg"), + anno::ui_order(443) +]] +{ return math::cos(a); } + +export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Cross"), + anno::description("Returns the 3D cross product of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/cross_product.svg"), + anno::ui_order(449) +]] +{ return math::cross(a,b); } + +export float degrees( + float a=0. [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(450) +]] +{ return math::degrees(a); } + +export float2 degrees( + float2 a=float2(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(451) +]] +{ return math::degrees(a); } + +export float3 degrees( + float3 a=float3(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(452) +]] +{ return math::degrees(a); } + +export float4 degrees( + float4 a=float4(0.) [[anno::description("Input angle in radians.")]] +) +[[ + anno::display_name("Degrees"), + anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Degrees"), + icon(".icons/Degrees.svg"), + anno::ui_order(453) +]] +{ return math::degrees(a); } + +export float distance(float a=0., float b=0.) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(460) +]] +{ return math::distance(a,b); } + +export float distance(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(461) +]] +{ return math::distance(a,b); } + +export float distance(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(462) +]] +{ return math::distance(a,b); } + +export float distance(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Distance"), + anno::description("Returns the Euclidean distance between the two input points."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Distance"), + icon(".icons/Distance.svg"), + anno::ui_order(463) +]] +{ return math::distance(a,b); } + +export float dot(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(470) +]] +{ return math::dot(a,b); } + +export float dot(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(471) +]] +{ return math::dot(a,b); } + +export float dot(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Dot"), + anno::description("Returns the dot product (scalar projection) of the two input vectors."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Dot"), + icon(".icons/Dot.svg"), + anno::ui_order(472) +]] +{ return math::dot(a,b); } + +export float exp(float a=0.) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(480) +]] +{ return math::exp(a); } + +export float2 exp(float2 a=float2(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float3 exp(float3 a=float3(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(481) +]] +{ return math::exp(a); } + +export float4 exp(float4 a=float4(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(482) +]] +{ return math::exp(a); } + +export color exp(color a=color(0.)) +[[ + anno::display_name("Exp"), + anno::description("Returns e raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp"), + icon(".icons/Exp.svg"), + anno::ui_order(483) +]] +{ return math::exp(a); } + +export float exp2(float a=0.) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(490) +]] +{ return math::exp2(a); } + +export float2 exp2(float2 a=float2(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(491) +]] +{ return math::exp2(a); } + +export float3 exp2(float3 a=float3(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(492) +]] +{ return math::exp2(a); } + +export float4 exp2(float4 a=float4(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(493) +]] +{ return math::exp2(a); } + +export color exp2(color a=color(0.)) +[[ + anno::display_name("Exp 2"), + anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Exp2"), + icon(".icons/Exp2.svg"), + anno::ui_order(494) +]] +{ return math::exp2(a); } + +export float floor(float a=0.) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(500) +]] +{ return math::floor(a); } + +export float2 floor(float2 a=float2(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(501) +]] +{ return math::floor(a); } + +export float3 floor(float3 a=float3(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(502) +]] +{ return math::floor(a); } + +export float4 floor(float4 a=float4(0.)) +[[ + anno::display_name("Floor"), + anno::description("Rounds each input value down to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Floor"), + icon(".icons/Floor.svg"), + anno::ui_order(503) +]] +{ return math::floor(a); } + +export float fmod( + float a=0. [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(510) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float2 b=float2(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(511) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float3 b=float3(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(512) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float4 b=float4(1.) [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(513) +]] +{ return math::fmod(a,b); } + +export float2 fmod( + float2 a=float2(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(514) +]] +{ return math::fmod(a,b); } + +export float3 fmod( + float3 a=float3(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(515) +]] +{ return math::fmod(a,b); } + +export float4 fmod( + float4 a=float4(0.) [[anno::description("Dividend input.")]], + float b=1. [[anno::description("Divisor input.")]] +) +[[ + anno::display_name("Fmod"), + anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Fmod"), + icon(".icons/Fmod.svg"), + anno::ui_order(516) +]] +{ return math::fmod(a,b); } + +export float frac(float a=0.) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(520) +]] +{ return math::frac(a); } + +export float2 frac(float2 a=float2(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(521) +]] +{ return math::frac(a); } + +export float3 frac(float3 a=float3(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(522) +]] +{ return math::frac(a); } + +export float4 frac(float4 a=float4(0.)) +[[ + anno::display_name("Frac"), + anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Frac"), + icon(".icons/Frac.svg"), + anno::ui_order(523) +]] +{ return math::frac(a); } + +export float length(float2 a=float2(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(530) +]] +{ return math::length(a); } + +export float length(float3 a=float3(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(531) +]] +{ return math::length(a); } + +export float length(float4 a=float4(0.)) +[[ + anno::display_name("Length"), + anno::description("Returns the Euclidean length (magnitude) of the input vector."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Length"), + icon(".icons/Length.svg"), + anno::ui_order(532) +]] +{ return math::length(a); } + +export float lerp( + float a=0. [[anno::description("Start value at interpolation factor 0.")]], + float b=1. [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(540) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(541) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(542) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(543) +]] +{ return math::lerp(a,b,l); } + +export float2 lerp( + float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], + float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(544) +]] +{ return math::lerp(a,b,l); } + +export float3 lerp( + float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], + float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(545) +]] +{ return math::lerp(a,b,l); } + +export float4 lerp( + float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], + float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(546) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(547) +]] +{ return math::lerp(a,b,l); } + +export color lerp( + color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], + color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], + float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] +) +[[ + anno::display_name("Lerp"), + anno::description("Linearly interpolates between a and b using interpolation factor l."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Lerp"), + icon(".icons/Lerp.svg"), + anno::ui_order(548) +]] +{ return math::lerp(a,b,l); } + +export float log(float a=1.) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(550) +]] +{ return math::log(a); } + +export float2 log(float2 a=float2(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(551) +]] +{ return math::log(a); } + +export float3 log(float3 a=float3(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(552) +]] +{ return math::log(a); } + +export float4 log(float4 a=float4(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(553) +]] +{ return math::log(a); } + +export color log(color a=color(1.)) +[[ + anno::display_name("Log"), + anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log"), + icon(".icons/Log.svg"), + anno::ui_order(554) +]] +{ return math::log(a); } + +export float log2(float a=1.) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(560) +]] +{ return math::log2(a); } + +export float2 log2(float2 a=float2(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(561) +]] +{ return math::log2(a); } + +export float3 log2(float3 a=float3(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(562) +]] +{ return math::log2(a); } + +export float4 log2(float4 a=float4(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(563) +]] +{ return math::log2(a); } + +export color log2(color a=color(1.)) +[[ + anno::display_name("Log 2"), + anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log2"), + icon(".icons/Log2.svg"), + anno::ui_order(564) +]] +{ return math::log2(a); } + +export float log10(float a=1.) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(570) +]] +{ return math::log10(a); } + +export float2 log10(float2 a=float2(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(571) +]] +{ return math::log10(a); } + +export float3 log10(float3 a=float3(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(572) +]] +{ return math::log10(a); } + +export float4 log10(float4 a=float4(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(573) +]] +{ return math::log10(a); } + +export color log10(color a=color(1.)) +[[ + anno::display_name("Log 10"), + anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Log10"), + icon(".icons/Log10.svg"), + anno::ui_order(574) +]] +{ return math::log10(a); } + +export float luminance(float3 a=float3(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(580) +]] +{ return math::luminance(a); } + +export float luminance(color a=color(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(581) +]] +{ return math::luminance(a); } + +export float luminance(float4 a=float4(0.)) +[[ + anno::display_name("Luminance"), + anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Luminance"), + icon(".icons/Luminance.svg"), + anno::ui_order(582) +]] +{ return math::luminance(float3(a.x,a.y,a.z)); } + +export int max(int a=0, int b=0) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(590) +]] +{ return math::max(a,b); } + +export float max(float a=0., float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(591) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(592) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(593) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(594) +]] +{ return math::max(a,b); } + +export float2 max(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(595) +]] +{ return math::max(a,b); } + +export float3 max(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(596) +]] +{ return math::max(a,b); } + +export float4 max(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(597) +]] +{ return math::max(a,b); } + +export float2 max(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(598) +]] +{ return math::max(a,b); } + +export float3 max(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(599) +]] +{ return math::max(a,b); } + +export float4 max(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(600) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(601) +]] +{ return math::max(a,b); } + +export color max(float a=0., color b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(602) +]] +{ return math::max(a,b); } + +export color max(color a=color(0.), float b=0.) +[[ + anno::display_name("Maximum"), + anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(603) +]] +{ return math::max(a,b); } + +export float max_value(float2 a=float2(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(610) +]] +{ return math::max_value(a); } + +export float max_value(float3 a=float3(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(611) +]] +{ return math::max_value(a); } + +export float max_value(float4 a=float4(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(612) +]] +{ return math::max_value(a); } + +export float max_value(color a=color(0.)) +[[ + anno::display_name("Maximum value"), + anno::description("Returns the largest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Max"), + icon(".icons/Max.svg"), + anno::ui_order(613) +]] +{ return math::max_value(a); } + +export int min(int a=0, int b=0) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(620) +]] +{ return math::min(a,b); } + +export float min(float a=0., float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(621) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(622) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(623) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(624) +]] +{ return math::min(a,b); } + +export float2 min(float2 a=float2(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(625) +]] +{ return math::min(a,b); } + +export float3 min(float3 a=float3(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(626) +]] +{ return math::min(a,b); } + +export float4 min(float4 a=float4(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(627) +]] +{ return math::min(a,b); } + +export float2 min(float a=0., float2 b=float2(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(628) +]] +{ return math::min(a,b); } + +export float3 min(float a=0., float3 b=float3(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(629) +]] +{ return math::min(a,b); } + +export float4 min(float a=0., float4 b=float4(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(630) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(631) +]] +{ return math::min(a,b); } + +export color min(float a=0., color b=color(0.)) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(632) +]] +{ return math::min(a,b); } + +export color min(color a=color(0.), float b=0.) +[[ + anno::display_name("Minimum"), + anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(633) +]] +{ return math::min(a,b); } + +export float min_value(float a=0.) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(640) +]] +{ return math::min_value(a); } + +export float min_value(float2 a=float2(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(641) +]] +{ return math::min_value(a); } + +export float min_value(float3 a=float3(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(642) +]] +{ return math::min_value(a); } + +export float min_value(float4 a=float4(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest component value in the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(643) +]] +{ return math::min_value(a); } + +export float min_value(color a=color(0.)) +[[ + anno::display_name("Minimum value"), + anno::description("Returns the smallest channel value in the input color."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Min"), + icon(".icons/Min.svg"), + anno::ui_order(644) +]] +{ return math::min_value(a); } + +export float2 normalize( + float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(650) +]] +{ return math::normalize(a); } + +export float3 normalize( + float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(651) +]] +{ return math::normalize(a); } + +export float4 normalize( + float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] +) +[[ + anno::display_name("Normalize"), + anno::description("Normalizes the input vector to unit length (length 1)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Normalize"), + icon(".icons/Normalize.svg"), + anno::ui_order(652) +]] +{ return math::normalize(a); } + +export int pow( + int a=0 [[anno::description("Base value.")]], + int b=0 [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(660) +]] +{ return math::pow(a,b); } + +export float pow( + float a=0. [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(661) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float2 b=float2(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(662) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float3 b=float3(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(663) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float4 b=float4(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(664) +]] +{ return math::pow(a,b); } + +export float2 pow( + float2 a=float2(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(665) +]] +{ return math::pow(a,b); } + +export float3 pow( + float3 a=float3(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(666) +]] +{ return math::pow(a,b); } + +export float4 pow( + float4 a=float4(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(667) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + color b=color(0.) [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(668) +]] +{ return math::pow(a,b); } + +export color pow( + color a=color(0.) [[anno::description("Base value.")]], + float b=0. [[anno::description("Exponent value.")]] +) +[[ + anno::display_name("Pow"), + anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Pow"), + icon(".icons/Pow.svg"), + anno::ui_order(669) +]] +{ return math::pow(a,b); } + +export float radians( + float a=0. [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(670) +]] +{ return math::radians(a); } + +export float2 radians( + float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(671) +]] +{ return math::radians(a); } + +export float3 radians( + float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(672) +]] +{ return math::radians(a); } + +export float4 radians( + float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] +) +[[ + anno::display_name("Radians"), + anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Radians"), + icon(".icons/Radians.svg"), + anno::ui_order(673) +]] +{ return math::radians(a); } + +export float round(float a=0.) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(690) +]] +{ return math::round(a); } + +export float2 round(float2 a=float2(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(691) +]] +{ return math::round(a); } + +export float3 round(float3 a=float3(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(692) +]] +{ return math::round(a); } + +export float4 round(float4 a=float4(0.)) +[[ + anno::display_name("Round"), + anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Round"), + icon(".icons/Round.svg"), + anno::ui_order(693) +]] +{ return math::round(a); } + +export float rsqrt(float a=0.) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(700) +]] +{ return math::rsqrt(a); } + +export float2 rsqrt(float2 a=float2(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(701) +]] +{ return math::rsqrt(a); } + +export float3 rsqrt(float3 a=float3(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(702) +]] +{ return math::rsqrt(a); } + +export float4 rsqrt(float4 a=float4(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(703) +]] +{ return math::rsqrt(a); } + +export color rsqrt(color a=color(0.)) +[[ + anno::display_name("Rsqrt"), + anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Rsqrt"), + icon(".icons/Rsqrt.svg"), + anno::ui_order(704) +]] +{ return math::rsqrt(a); } + +export float saturate( + float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(710) +]] +{ return math::saturate(a); } + +export float2 saturate( + float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(711) +]] +{ return math::saturate(a); } + +export float3 saturate( + float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(712) +]] +{ return math::saturate(a); } + +export float4 saturate( + float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(713) +]] +{ return math::saturate(a); } + +export color saturate( + color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] +) +[[ + anno::display_name("Saturate"), + anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Saturate"), + icon(".icons/Saturate.svg"), + anno::ui_order(714) +]] +{ return math::saturate(a); } + +export int sign(int a=0) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(720) +]] +{ return math::sign(a); } + +export float sign(float a=0.) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(721) +]] +{ return math::sign(a); } + +export float2 sign(float2 a=float2(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(722) +]] +{ return math::sign(a); } + +export float3 sign(float3 a=float3(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(723) +]] +{ return math::sign(a); } + +export float4 sign(float4 a=float4(0.)) +[[ + anno::display_name("Sign"), + anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sign"), + icon(".icons/Sign.svg"), + anno::ui_order(724) +]] +{ return math::sign(a); } + +export float sin(float a=0.) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(730) +]] +{ return math::sin(a); } + +export float2 sin(float2 a=float2(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(731) +]] +{ return math::sin(a); } + +export float3 sin(float3 a=float3(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(732) +]] +{ return math::sin(a); } + +export float4 sin(float4 a=float4(0.)) +[[ + anno::display_name("Sin"), + anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sin"), + icon(".icons/Sin.svg"), + anno::ui_order(733) +]] +{ return math::sin(a); } + +export float2 sincos( + float a=0. [[ + anno::description("Input angle in radians.") + ]]) +[[ + anno::display_name("SinCos"), + anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions"), + icon(".icons/sincos.svg"), + anno::ui_order(739) +]] +{ float[]b = math::sincos(a); return float2(b[0],b[1]); } + +export float smoothstep( + float a=0. [[ + anno::description("Lower edge of the interpolation range.") + ]], + float b=1. [[ + anno::description("Upper edge of the interpolation range.") + ]], + float l=0. [[ + anno::description("Input value to evaluate against the interpolation range.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(740) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float2 l=float2(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(741) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float3 l=float3(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(742) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float4 l=float4(0.) [[ + anno::description("Input value evaluated per component.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(743) +]] +{ return math::smoothstep(a,b,l); } + +export float2 smoothstep( + float2 a=float2(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(744) +]] +{ return math::smoothstep(a,b,l); } + +export float3 smoothstep( + float3 a=float3(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(745) +]] +{ return math::smoothstep(a,b,l); } + +export float4 smoothstep( + float4 a=float4(1.) [[ + anno::description("Lower interpolation edge per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Upper interpolation edge per component.") + ]], + float l=0. [[ + anno::description("Scalar input value applied to all components.") + ]]) +[[ + anno::display_name("Smoothstep"), + anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Smoothstep"), + icon(".icons/Smoothstep.svg"), + anno::ui_order(746) +]] +{ return math::smoothstep(a,b,l); } + +export float sqrt(float a=0.) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(750) +]] +{ return math::sqrt(a); } + +export float2 sqrt(float2 a=float2(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(751) +]] +{ return math::sqrt(a); } + +export float3 sqrt(float3 a=float3(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(752) +]] +{ return math::sqrt(a); } + +export float4 sqrt(float4 a=float4(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(753) +]] +{ return math::sqrt(a); } + +export color sqrt(color a=color(0.)) +[[ + anno::display_name("Sqrt"), + anno::description("Returns the square root of the input. The operation is performed per color channel."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Sqrt"), + icon(".icons/Sqrt.svg"), + anno::ui_order(754) +]] +{ return math::sqrt(a); } + +export float step( + float a=0. [[ + anno::description("Threshold value.") + ]], + float b=0. [[ + anno::description("Input compared against the threshold.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(760) +]] +{ return math::step(a,b); } + +export float2 step( + float2 a=float2(0.) [[ + anno::description("Threshold value per component.") + ]], + float2 b=float2(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(761) +]] +{ return math::step(a,b); } + +export float3 step( + float3 a=float3(0.) [[ + anno::description("Threshold value per component.") + ]], + float3 b=float3(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(762) +]] +{ return math::step(a,b); } + +export float4 step( + float4 a=float4(0.) [[ + anno::description("Threshold value per component.") + ]], + float4 b=float4(0.) [[ + anno::description("Input compared against the threshold per component.") + ]]) +[[ + anno::display_name("Step"), + anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Step"), + icon(".icons/Step.svg"), + anno::ui_order(763) +]] +{ return math::step(a,b); } + +export float tan(float a=0.) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(770) +]] +{ return math::tan(a); } + +export float2 tan(float2 a=float2(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(771) +]] +{ return math::tan(a); } + +export float3 tan(float3 a=float3(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(772) +]] +{ return math::tan(a); } + +export float4 tan(float4 a=float4(0.)) +[[ + anno::display_name("Tan"), + anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Tan"), + icon(".icons/Tan.svg"), + anno::ui_order(773) +]] +{ return math::tan(a); } + +export float remap( + float a=0. [[ + anno::description("Input value in the source range.") + ]], + float start_old=0. [[ + anno::description("Lower bound of the source range.") + ]], + float end_old=1. [[ + anno::description("Upper bound of the source range.") + ]], + float start_new=0. [[ + anno::description("Lower bound of the destination range.") + ]], + float end_new=1. [[ + anno::description("Upper bound of the destination range.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(680) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float2 remap( + float2 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float2 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float2 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float2 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float2 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(681) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float3 remap( + float3 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float3 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float3 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float3 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float3 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(682) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } + +export float4 remap( + float4 a=0. [[ + anno::description("Input value in the source range, evaluated per component.") + ]], + float4 start_old=0. [[ + anno::description("Lower bound of the source range per component.") + ]], + float4 end_old=1. [[ + anno::description("Upper bound of the source range per component.") + ]], + float4 start_new=0. [[ + anno::description("Lower bound of the destination range per component.") + ]], + float4 end_new=1. [[ + anno::description("Upper bound of the destination range per component.") + ]]) +[[ + anno::display_name("Remap"), + anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), + anno::author("NVIDIA Corporation"), + anno::in_group("Math", "Functions", "Remap"), + icon(".icons/Remap.svg"), + anno::ui_order(683) +]] +{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/wonikrobotics_allegrohand_allegro/payloads/Physics/mujoco.usda b/wonikrobotics_allegrohand_allegro/payloads/Physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..8c8aba8cb3688f35b9f9fc834a13fca5fc822144 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/Physics/mujoco.usda @@ -0,0 +1,348 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "kuka_allegro" +{ + over "allegro_mount" + { + over "allegro_mount_joint" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "root_joint" + { + } + + over "palm_link" + { + over "index_joint_0" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "middle_joint_0" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "ring_joint_0" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "thumb_joint_0" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "index_link_0" + { + over "index_joint_1" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "index_link_1" + { + over "index_joint_2" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "index_link_2" + { + over "index_joint_3" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "index_link_3" + { + over "visuals" + { + } + + over "collisions" + { + } + } + + over "middle_link_0" + { + over "middle_joint_1" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "middle_link_1" + { + over "middle_joint_2" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "middle_link_2" + { + over "middle_joint_3" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "middle_link_3" + { + over "middle_biotac_tip_joint" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "middle_biotac_tip" + { + } + + over "ring_link_0" + { + over "ring_joint_1" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "ring_link_1" + { + over "ring_joint_2" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "ring_link_2" + { + over "ring_joint_3" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "ring_link_3" + { + over "ring_biotac_tip_joint" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "ring_biotac_tip" + { + } + + over "thumb_link_0" + { + over "thumb_joint_1" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "thumb_link_1" + { + over "thumb_joint_2" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "thumb_link_2" + { + over "thumb_joint_3" ( + delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "thumb_link_3" + { + over "thumb_biotac_tip_joint" + { + } + + over "visuals" + { + } + + over "collisions" + { + } + } + + over "thumb_biotac_tip" + { + } + + over "Looks" + { + } + + over "VisualMaterials" + { + } +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/Physics/physics.usda b/wonikrobotics_allegrohand_allegro/payloads/Physics/physics.usda new file mode 100644 index 0000000000000000000000000000000000000000..e3f035ba75774133be9725b705e01b4a0bf5d73c --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/Physics/physics.usda @@ -0,0 +1,802 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "kuka_allegro" ( + prepend apiSchemas = ["PhysicsArticulationRootAPI"] +) +{ + over "allegro_mount" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0.15) + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.05 + + def PhysicsFixedJoint "allegro_mount_joint" + { + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.008219, -0.02063, 0.23086) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.6532803, 0.2705985, -0.6532827, 0.27059752) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "palm_link" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) + float physics:mass = 0.4154 + + def PhysicsRevoluteJoint "index_joint_0" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0514302, -0.03632, -0.0113) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (-0.0000010114163, 0.9990462, -0.04366438, -0.000023156404) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -31.999056 + float physics:upperLimit = 31.999056 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "middle_joint_0" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0537375, 0.0087771, -0.0113) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1.0732037e-9, 1, -0.0000463287, -0.000023156404) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -31.999056 + float physics:upperLimit = 31.999056 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "ring_joint_0" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0514302, 0.0538749, -0.0113) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.000001013279, 0.99905026, 0.043571815, -0.000023126602) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -31.999056 + float physics:upperLimit = 31.999056 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + def PhysicsRevoluteJoint "thumb_joint_0" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.0367482, -0.0081281, -0.0295) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.000001013279, -0.04361809, -0.99904823, 0.000023158267) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = 0 + float physics:upperLimit = 89.99734 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_1" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "index_link_0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.005 + + def PhysicsRevoluteJoint "index_joint_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.000016391277, 0.70715594, 0.7070576, -0.00001642108) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "index_link_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.005 + + def PhysicsRevoluteJoint "index_joint_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.054, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "index_link_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.05 + + def PhysicsRevoluteJoint "index_joint_3" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0384, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "index_link_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.11 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "middle_link_0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "middle_joint_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.000016391277, 0.70715594, 0.7070576, -0.00001642108) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "middle_link_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "middle_joint_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.054, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "middle_link_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "middle_joint_3" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0384, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "middle_link_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "ring_link_0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "ring_joint_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.000016391277, 0.70715594, 0.7070576, -0.00001642108) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_2" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "ring_link_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "ring_joint_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.054, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_3" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "ring_link_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "ring_joint_3" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0384, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_4" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "ring_link_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_5" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "thumb_link_0" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "thumb_joint_1" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.005, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.50001156, 0.4999884, -0.50001156, -0.4999884) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -18.99944 + float physics:upperLimit = 65.998055 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_6" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "thumb_link_1" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "thumb_joint_2" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0.0554) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1.0732037e-9, 1, -0.0000463287, -0.000023156404) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 98.99708 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_7" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "thumb_link_2" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + def PhysicsRevoluteJoint "thumb_joint_3" ( + prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] + ) + { + float drive:angular:physics:damping = 0.2 + float drive:angular:physics:maxForce = 10 + float drive:angular:physics:stiffness = 5 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + custom rel physics:body0 = + custom rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.0514, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) + quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) + float physics:lowerLimit = -15.999528 + float physics:upperLimit = 100.99702 + float state:angular:physics:position = 0 + float state:angular:physics:velocity = 0 + } + + over "collisions" ( + instanceable = false + ) + { + over "visuals_8" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + over "thumb_link_3" ( + prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float3 physics:diagonalInertia = (0.000051458, 0.000051458, 0.00006125) + float physics:mass = 0.1 + + over "collisions" ( + instanceable = false + ) + { + over "visuals_9" ( + prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"] + ) + { + rel material:binding:physics = + } + } + } + + def PhysicsFixedJoint "root_joint" + { + custom rel physics:body1 = + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + } + + over "Looks" + { + over "material_DefaultMaterial" ( + prepend apiSchemas = ["PhysicsMaterialAPI"] + ) + { + float physics:dynamicFriction = 3 + float physics:restitution = 0 + float physics:staticFriction = 3 + } + } +} + +def PhysicsScene "physicsScene" +{ + vector3f physics:gravityDirection = (0, 0, -1) + float physics:gravityMagnitude = 9.81 +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/Physics/physx.usda b/wonikrobotics_allegrohand_allegro/payloads/Physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..74ac54ce1aadb4265e9d8da586c7f5ec2f893ef5 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/Physics/physx.usda @@ -0,0 +1,202 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./physics.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "kuka_allegro" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 16 + + over "palm_link" + { + over "index_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "middle_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "ring_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "thumb_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "index_link_0" + { + over "index_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "index_link_1" + { + over "index_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "index_link_2" + { + over "index_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "middle_link_0" + { + over "middle_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "middle_link_1" + { + over "middle_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "middle_link_2" + { + over "middle_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "ring_link_0" + { + over "ring_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "ring_link_1" + { + over "ring_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "ring_link_2" + { + over "ring_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "thumb_link_0" + { + over "thumb_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "thumb_link_1" + { + over "thumb_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } + + over "thumb_link_2" + { + over "thumb_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI"] + ) + { + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + } +} + +over "physicsScene" ( + prepend apiSchemas = ["PhysxSceneAPI"] +) +{ + uniform token physxScene:broadphaseType = "MBP" + bool physxScene:enableCCD = 1 + bool physxScene:enableGPUDynamics = 0 + bool physxScene:enableStabilization = 1 + uniform token physxScene:solverType = "TGS" +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/base.usda b/wonikrobotics_allegrohand_allegro/payloads/base.usda new file mode 100644 index 0000000000000000000000000000000000000000..65410b5662b82e8ef7a9c997c06649ac56156585 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/base.usda @@ -0,0 +1,627 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + subLayers = [ + @./robot.usda@ + ] + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Xform "kuka_allegro" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "allegro_mount" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0.15) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "palm_link" + { + quatd xformOp:orient = (0.6532803177833557, 0.27059850096702576, -0.6532827019691467, 0.27059751749038696) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.008218999952077866, -0.0206300001591444, 0.23085999637842178) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "gripper_01" ( + prepend apiSchemas = ["IsaacSiteAPI"] + ) + { + custom float gripper_maxOpening = 0.085 + custom float gripper_maxPayload = 0.5 + string isaac:Description = "Allegro hand grasp point" + token simready:attactment:socketType = "Gripper" + double3 xformOp:translate = (0.055, -0.005, 0.055) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def BasisCurves "gripper_forward_axis" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, 0, 0), (0.05, 0, 0)] + point3f[] points = [(0, 0, 0), (0.05, 0, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + + def BasisCurves "gripper_grip_line" + { + int[] curveVertexCounts = [2] + float3[] extent = [(0, -0.025, 0), (0, 0.025, 0)] + point3f[] points = [(0, -0.025, 0), (0, 0.025, 0)] + uniform token purpose = "guide" + uniform token type = "linear" + } + } + } + + def Xform "index_link_0" + { + quatd xformOp:orient = (-0.3823193907737732, 0.01672932878136635, -0.040332481265068054, 0.9229980111122131) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.025453295558691025, -0.038321949541568756, 0.28229024410247805) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "index_link_1" + { + quatd xformOp:orient = (-0.25857847929000854, -0.6811860799789429, 0.2821902930736542, -0.6240924000740051) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.025453295558691025, -0.038321949541568756, 0.28229024410247805) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "index_link_2" + { + quatd xformOp:orient = (-0.25857847929000854, -0.6811860799789429, 0.2821902930736542, -0.6240924000740051) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.028788045048713684, -0.04165345057845116, 0.336084121465683) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "index_link_3" + { + quatd xformOp:orient = (-0.25857847929000854, -0.6811860799789429, 0.2821902930736542, -0.6240924000740051) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.0311594195663929, -0.04402251914143562, 0.37433754801750185) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "middle_link_0" + { + quatd xformOp:orient = (-0.3826833665370941, 0.00003744481728062965, -0.00003463029861450195, 0.9238795042037964) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0064351740293204784, -0.006433483213186264, 0.2845975399017334) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "middle_link_1" + { + quatd xformOp:orient = (-0.2706385850906372, -0.6533137559890747, 0.27064839005470276, -0.6532114148139954) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0064351740293204784, -0.006433483213186264, 0.2845975399017334) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "middle_link_2" + { + quatd xformOp:orient = (-0.2706385850906372, -0.6533137559890747, 0.27064839005470276, -0.6532114148139954) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.006428252439945936, -0.006437165662646294, 0.3385975301265717) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "middle_link_3" + { + quatd xformOp:orient = (-0.2706385850906372, -0.6533137559890747, 0.27064839005470276, -0.6532114148139954) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.006423331331461668, -0.006439784541726112, 0.3769975244998932) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "middle_biotac_tip" + { + quatd xformOp:orient = (-0.12284703552722931, -0.5792511701583862, 0.4056321978569031, -0.6963037848472595) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.01702434942126274, -0.017048664391040802, 0.4319981575012207) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "ring_link_0" + { + quatd xformOp:orient = (-0.382318913936615, -0.016654515638947487, 0.040263280272483826, 0.9230026006698608) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.03832412511110306, 0.02545548789203167, 0.28229024410247805) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "ring_link_1" + { + quatd xformOp:orient = (-0.28218358755111694, -0.6241980195045471, 0.2585913836956024, -0.6810871958732605) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.03832412511110306, 0.02545548789203167, 0.28229024410247805) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "ring_link_2" + { + quatd xformOp:orient = (-0.28218358755111694, -0.6241980195045471, 0.2585913836956024, -0.6810871958732605) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.04164504632353783, 0.028779663145542145, 0.33608543276786806) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "ring_link_3" + { + quatd xformOp:orient = (-0.28218358755111694, -0.6241980195045471, 0.2585913836956024, -0.6810871958732605) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.0440065860748291, 0.031143520027399063, 0.37433978319168093) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "ring_biotac_tip" + { + quatd xformOp:orient = (-0.12808510661125183, -0.5534350872039795, 0.38755935430526733, -0.7260175943374634) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (-0.057997122406959534, 0.023924168199300766, 0.42913162112236025) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "thumb_link_0" + { + quatd xformOp:orient = (0.016691170632839203, 0.3822978138923645, -0.9230090379714966, -0.04029816761612892) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.018388180062174797, -0.005517694167792797, 0.19411190003156661) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "thumb_link_1" + { + quatd xformOp:orient = (-0.258516401052475, 0.2821338176727295, -0.6811754703521729, 0.6241550445556641) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.014852482825517654, -0.009053063578903675, 0.1941119037568569) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "thumb_link_2" + { + quatd xformOp:orient = (-0.6408681869506836, -0.6644258499145508, 0.24184651672840118, 0.29889166355133057) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.053875166922807693, -0.04807936027646065, 0.18928105160593986) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "thumb_link_3" + { + quatd xformOp:orient = (-0.6408681869506836, -0.6644258499145508, 0.24184651672840118, 0.29889166355133057) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.09007862210273743, -0.08428955078125, 0.184799013286829) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "visuals" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "collisions" ( + instanceable = true + prepend references = @./instances.usda@ + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Xform "thumb_biotac_tip" + { + quatd xformOp:orient = (-0.6903680562973022, -0.5963335633277893, 0.37991800904273987, 0.15310190618038177) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.14000016450881958, -0.1342190057039261, 0.18865697234869003) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Scope "Looks" ( + prepend references = @./materials.usda@ + ) + { + } + + def Scope "VisualMaterials" + { + } +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/geometries.usd b/wonikrobotics_allegrohand_allegro/payloads/geometries.usd new file mode 100644 index 0000000000000000000000000000000000000000..8cf997895d25722d21133a7d2c0c03c721afc34d --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/geometries.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ffae4bc51293fdbe5f666e91bab9f6f81a1085ef4550683aad2ba198aa30932 +size 1616707 diff --git a/wonikrobotics_allegrohand_allegro/payloads/instances.usda b/wonikrobotics_allegrohand_allegro/payloads/instances.usda new file mode 100644 index 0000000000000000000000000000000000000000..73c84dbabbc74174dbc252c2b37511e97837381a --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/instances.usda @@ -0,0 +1,544 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Instances" +{ + def Xform "visuals" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_1_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_1_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_1" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_2" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_2_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_2" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_3" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_3_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_3" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_4" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_4_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_4" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_5" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_5_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_5" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_6" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_6_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_6" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_7" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_7_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_7" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_8" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_8_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_8" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } + + def Xform "visuals_9" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + custom rel material:binding + prepend rel material:binding = + } + + def Scope "VisualMaterials" + { + def Material "material_DefaultMaterial" ( + instanceable = true + prepend references = @./materials.usda@ + ) + { + token outputs:surface.connect = + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + } + } + } + + def Xform "visuals_9_1" ( + prepend references = @./geometries.usd@ + ) + { + over "visuals_9" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + token purpose = "guide" + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/materials.usda b/wonikrobotics_allegrohand_allegro/payloads/materials.usda new file mode 100644 index 0000000000000000000000000000000000000000..91cad310e0cdbb615c7fdaaa4168edfd42491e8c --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/materials.usda @@ -0,0 +1,73 @@ +#usda 1.0 +( + customLayerData = { + } + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +def Scope "Materials" +{ + def Material "material_DefaultMaterial" + { + custom token[] omni:simready:nonvisual:attributes = ["none"] + custom token omni:simready:nonvisual:base = "aluminum" + custom token omni:simready:nonvisual:coating = "none" + token outputs:displacement ( + displayGroup = "Outputs" + ) + prepend token outputs:mdl:displacement.connect = + prepend token outputs:mdl:surface.connect = + prepend token outputs:mdl:volume.connect = + token outputs:mtlx:surface.connect = + token outputs:surface ( + displayGroup = "Outputs" + ) + token outputs:surface.connect = + token outputs:volume ( + displayGroup = "Outputs" + ) + + def Shader "Shader" ( + apiSchemas = ["NodeDefAPI"] + ) + { + token info:id = "UsdPreviewSurface" + token info:implementationSource = "sourceAsset" + asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ + token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.6, 0.6, 0.6) + token outputs:out + } + + def Shader "SimReadyPreviewSurface" + { + token info:id = "UsdPreviewSurface" + color3f inputs:diffuseColor = (0.6, 0.6, 0.6) + float inputs:metallic = 0 + float inputs:opacity = 1 + float inputs:roughness = 0.5 + token outputs:surface + } + + def Shader "SimReadyUV" + { + token info:id = "UsdPrimvarReader_float2" + string inputs:varname = "st" + float2 outputs:result + } + + def Shader "simready_pbr_surfaceshader" + { + uniform token info:id = "ND_open_pbr_surface_surfaceshader" + color3f inputs:base_color = (0.5, 0.5, 0.5) + float inputs:base_metalness = 0 + float inputs:specular_roughness = 0.5 + token outputs:out + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/payloads/robot.usda b/wonikrobotics_allegrohand_allegro/payloads/robot.usda new file mode 100644 index 0000000000000000000000000000000000000000..64f9fe0e4c7a74476721e97326a6946b2352a489 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/payloads/robot.usda @@ -0,0 +1,460 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "kuka_allegro" ( + prepend apiSchemas = ["IsaacRobotAPI"] +) +{ + string isaac:description + string isaac:namespace ( + displayName = "Namespace" + doc = "Namespace of the prim in Isaac Sim" + ) + prepend rel isaac:physics:robotJoints = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + prepend rel isaac:physics:robotLinks = [ + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + , + ] + token isaac:robotType = "End Effector" + + over "allegro_mount" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "allegro_mount_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "root_joint" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + + over "palm_link" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "index_joint_0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + + over "middle_joint_0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + + over "ring_joint_0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + + over "thumb_joint_0" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_link_0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "index_joint_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_link_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "index_joint_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_link_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "index_joint_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "index_link_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "middle_link_0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "middle_joint_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "middle_link_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "middle_joint_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "middle_link_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "middle_joint_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "middle_link_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "ring_link_0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "ring_joint_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "ring_link_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "ring_joint_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "ring_link_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "ring_joint_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "ring_link_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } + + over "thumb_link_0" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "thumb_joint_1" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "thumb_link_1" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "thumb_joint_2" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "thumb_link_2" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + + over "thumb_joint_3" ( + prepend apiSchemas = ["IsaacJointAPI"] + ) + { + custom string isaac:nameOverride + float[] isaac:physics:AccelerationLimit + float[] isaac:physics:JerkLimit + custom int isaac:physics:Rot_X:DofOffset + custom int isaac:physics:Rot_Y:DofOffset + custom int isaac:physics:Rot_Z:DofOffset + custom int isaac:physics:Tr_X:DofOffset + custom int isaac:physics:Tr_Y:DofOffset + custom int isaac:physics:Tr_Z:DofOffset + } + } + + over "thumb_link_3" ( + prepend apiSchemas = ["IsaacLinkAPI"] + ) + { + string isaac:nameOverride + } +} + diff --git a/wonikrobotics_allegrohand_allegro/runnables/physics/mujoco.usda b/wonikrobotics_allegrohand_allegro/runnables/physics/mujoco.usda new file mode 100644 index 0000000000000000000000000000000000000000..a572d7945c20a3a4d43794b59ba47b37adb15e6f --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/runnables/physics/mujoco.usda @@ -0,0 +1,587 @@ +#usda 1.0 +( + defaultPrim = "kuka_allegro" +) + +def "kuka_allegro" +{ + over "allegro_mount" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "palm_link" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_0" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "middle_joint_0" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "ring_joint_0" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "thumb_joint_0" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + + over "gripper_01" ( + prepend apiSchemas = ["MjcSiteAPI"] + ) + { + } + } + + over "index_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "index_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "index_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_3" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "index_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "middle_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "middle_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "middle_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_3" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "middle_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "ring_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "ring_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "ring_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_3" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "ring_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_0" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_1" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "thumb_link_1" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_2" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "thumb_link_2" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_3" ( + prepend apiSchemas = ["MjcJointAPI"] + ) + { + } + } + + over "thumb_link_3" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + def "MuJoCoActuators" + { + def MjcActuator "act_kuka_allegro_palm_link_index_joint_0" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_palm_link_middle_joint_0" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_palm_link_ring_joint_0" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_palm_link_thumb_joint_0" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_index_link_0_index_joint_1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_index_link_1_index_joint_2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_index_link_2_index_joint_3" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_middle_link_0_middle_joint_1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_middle_link_1_middle_joint_2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_middle_link_2_middle_joint_3" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_ring_link_0_ring_joint_1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_ring_link_1_ring_joint_2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_ring_link_2_ring_joint_3" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_thumb_link_0_thumb_joint_1" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_thumb_link_1_thumb_joint_2" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + + def MjcActuator "act_kuka_allegro_thumb_link_2_thumb_joint_3" ( + doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." + ) + { + double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] + token mjc:biasType = "affine" + token mjc:ctrlLimited = "false" + token mjc:forceLimited = "true" + double mjc:forceRange:max = 21 + double mjc:forceRange:min = -21 + double[] mjc:gainPrm = [1] + token mjc:gainType = "fixed" + rel mjc:target = + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/runnables/physics/newton.usda b/wonikrobotics_allegrohand_allegro/runnables/physics/newton.usda new file mode 100644 index 0000000000000000000000000000000000000000..d982c45810da484585894d8dc16753f81cc0ec77 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/runnables/physics/newton.usda @@ -0,0 +1,406 @@ +#usda 1.0 +( + defaultPrim = "kuka_allegro" +) + +over "kuka_allegro" ( + prepend apiSchemas = ["NewtonArticulationRootAPI"] +) +{ + bool newton:selfCollisionEnabled = 0 + + over "allegro_mount" + { + over "collisions" + { + over "visuals" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "palm_link" + { + over "collisions" + { + over "visuals_1" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_0" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + + over "middle_joint_0" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + + over "ring_joint_0" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + + over "thumb_joint_0" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "index_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "index_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "index_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "index_joint_3" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "index_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "middle_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "middle_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "middle_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "middle_joint_3" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "middle_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "ring_link_0" + { + over "collisions" + { + over "visuals_2" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "ring_link_1" + { + over "collisions" + { + over "visuals_3" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "ring_link_2" + { + over "collisions" + { + over "visuals_4" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "ring_joint_3" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "ring_link_3" + { + over "collisions" + { + over "visuals_5" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_0" + { + over "collisions" + { + over "visuals_6" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_1" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "thumb_link_1" + { + over "collisions" + { + over "visuals_7" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_2" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "thumb_link_2" + { + over "collisions" + { + over "visuals_8" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + + over "thumb_joint_3" ( + prepend apiSchemas = ["NewtonJointAPI"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:stiffness = 1.04169 + float newton:damping = 0.034723 + float newton:velocityLimit = 359.98938 + } + } + + over "thumb_link_3" + { + over "collisions" + { + over "visuals_9" ( + prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token physics:approximation = "convexHull" + } + } + } +} + diff --git a/wonikrobotics_allegrohand_allegro/runnables/physics/physx.usda b/wonikrobotics_allegrohand_allegro/runnables/physics/physx.usda new file mode 100644 index 0000000000000000000000000000000000000000..2a49cdd299c8ac57395139fcb482bfeeb8d90d29 --- /dev/null +++ b/wonikrobotics_allegrohand_allegro/runnables/physics/physx.usda @@ -0,0 +1,373 @@ +#usda 1.0 +( + customLayerData = { + } + defaultPrim = "kuka_allegro" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "kuka_allegro" ( + prepend apiSchemas = ["PhysxArticulationAPI"] +) +{ + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + + over "palm_link" + { + over "index_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "middle_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "ring_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "thumb_joint_0" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_1" + { + token physics:approximation = "convexHull" + } + } + } + + over "index_link_0" + { + over "index_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "index_link_1" + { + over "index_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_3" + { + token physics:approximation = "convexHull" + } + } + } + + over "index_link_2" + { + over "index_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_4" + { + token physics:approximation = "convexHull" + } + } + } + + over "middle_link_0" + { + over "middle_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "middle_link_1" + { + over "middle_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_3" + { + token physics:approximation = "convexHull" + } + } + } + + over "middle_link_2" + { + over "middle_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_4" + { + token physics:approximation = "convexHull" + } + } + } + + over "ring_link_0" + { + over "ring_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_2" + { + token physics:approximation = "convexHull" + } + } + } + + over "ring_link_1" + { + over "ring_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_3" + { + token physics:approximation = "convexHull" + } + } + } + + over "ring_link_2" + { + over "ring_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_4" + { + token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_0" + { + over "thumb_joint_1" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_6" + { + token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_1" + { + over "thumb_joint_2" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_7" + { + token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_2" + { + over "thumb_joint_3" ( + prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] + ) + { + float physxJoint:armature = 0.01 + float physxJoint:jointFriction = 0.035 + float physxJoint:maxJointVelocity = 359.98938 + } + + over "collisions" + { + over "visuals_8" + { + token physics:approximation = "convexHull" + } + } + } + + over "allegro_mount" + { + over "collisions" + { + over "visuals" + { + token physics:approximation = "convexHull" + } + } + } + + over "index_link_3" + { + over "collisions" + { + over "visuals_5" + { + token physics:approximation = "convexHull" + } + } + } + + over "middle_link_3" + { + over "collisions" + { + over "visuals_5" + { + token physics:approximation = "convexHull" + } + } + } + + over "ring_link_3" + { + over "collisions" + { + over "visuals_5" + { + token physics:approximation = "convexHull" + } + } + } + + over "thumb_link_3" + { + over "collisions" + { + over "visuals_9" + { + token physics:approximation = "convexHull" + } + } + } + + over "Looks" + { + over "material_DefaultMaterial" ( + prepend apiSchemas = ["PhysxMaterialAPI"] + ) + { + uniform token physxMaterial:frictionCombineMode = "max" + } + } +} +